JP2014073807A - Operation device and electrically-driven mobility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation device and an electrically-driven mobility by which manipulation in a stable state is possible and intuitive manipulation is also possible.SOLUTION: There is provided an operation device for operating electrically-driven mobility having at least one electrically-driven drive wheel. The operation device includes a plate 9a on which both hands of a manipulator of the electrically-driven mobility can be placed in a spread state, a support mechanism which supports the plate 9a swingably around an axis 9c extending in a vehicle width direction of the electrically-driven mobility and also supports the plate 9a swingably around an axis 9b extending in a direction orthogonal to the vehicle width direction, a connecting mechanism which connects the support mechanism to the electrically-driven mobility, a second motor 11d including an angle sensor which detects a swing angle of the plate 9a around the axis 9c, a first motor 11c including an angle sensor which detects a swing angle of the plate 9a around the axis 9b, and an intermediate member 11b of the support mechanism supporting the plate 9a swingably around the axis 9b at a substantially center position of the plate 9a in the vehicle width direction.

Description

  The present invention relates to an operating device and electric mobility.

2. Description of the Related Art Conventionally, an operation device that controls a traveling operation of electric mobility such as an electric wheelchair is known (see, for example, Patent Document 1).
The operation device disclosed in Patent Document 1 includes a mouse-type operation unit of a trackball type disposed at the tip of an armrest. The operator can operate the electric mobility by moving the palm with the palm of one hand placed on the operation unit.

JP 2000-353022 A

  However, since the operation unit of Patent Document 1 is a mouse type of a trackball type, it is necessary to move the palm relative to the operation unit in order to operate, and the position of the palm is not stable. In addition, since only one hand is placed on the operation unit arranged at the tip of the armrest for operation, for example, when sudden external force is applied to the electric mobility due to a step or the like, stable operation cannot be performed. Furthermore, since the operation unit is disposed at the tip of one armrest, it is not possible to perform intuitive maneuvering based on the center of the operator's body.

  The present invention has been made in view of the circumstances described above, and can be operated in a stable state even when sudden external force is applied, and is intuitive based on the center of the operator's body. An object of the present invention is to provide a maneuverable control device and electric mobility.

In order to achieve the above object, the present invention provides the following means.
A first aspect of the present invention is an operating device for operating an electric mobility provided with at least one electric drive wheel, wherein the both hands of the electric mobility operator can be placed with the hands open. And the first mounting portion swingably supported around the first axis extending in the vehicle width direction of the electric mobility and swinging the mounting portion around the second axis extending in a direction perpendicular to the vehicle width direction. A support part that supports the movable part, a connecting part that connects the support part to the electric mobility, a first detection part that detects a swing angle of the placement part around the first axis, and the placement part; A second detection unit that detects a swing angle around the second axis, and the support unit is at a substantially center position in the vehicle width direction of the mounting unit, and the mounting unit is the second detecting unit. Provided is an operating device which is supported so as to be swingable around an axis.

  According to this aspect, the operator places both hands on the placing portion with his hands open, and swings the placing portion around the first axis extending in the vehicle width direction of the electric mobility. Further, the operator swings the mounting portion around the second axis extending in the direction orthogonal to the vehicle width direction of the electric mobility. Then, the swing angle of the placement unit around the first axis is detected by the first detection unit, and the swing angle of the placement unit around the second axis is detected by the second detection unit. The mounting portion can swing around a second axis extending in a direction orthogonal to the vehicle width direction at a substantially central position in the vehicle width direction.

  Thus, the operator can swing the mounting portion around the first axis by bending the wrist with both hands open. In addition, the operator can swing the mounting portion around the second axis by moving the left and right arms in different directions (vertical and longitudinal directions) with both hands open. Therefore, by maneuvering with both hands open, stable maneuvering can be achieved even when a sudden external force is applied to the electric mobility due to a step or the like.

  In addition, palms can be placed at both ends of the mounting portion in the vehicle width direction so that the mounting portion can be swung around the second axis at a substantially central position in the vehicle width direction. Intuitive maneuvering is possible.

  In the above aspect, the support portion may support the placement portion so as to be swingable around the second axis extending in the full length direction of the electric mobility. By doing so, the operator can swing the mounting portion around the second axis by moving the left and right arms in different directions (vertical direction of the vehicle for electric mobility) with both hands open. Can do. Moving the left and right arms in the vehicle vertical direction of electric mobility has the advantage that it is easy to apply force, and it is not necessary to move the positions of the shoulders and elbows, so that both hands can be easily fixed to the mounting portion.

  According to a second aspect of the present invention, at least one electric drive wheel, a vehicle body frame that rotatably supports the drive wheel around an axle, and a driver's hands can be placed with the hands open. The placement portion is supported so as to be swingable around a first axis extending in the vehicle width direction, and the placement portion is swingable around a second axis extending in a direction orthogonal to the vehicle width direction. A support part for supporting, a connecting part for connecting the support part to the vehicle body frame, a first detection part for detecting a swing angle of the placement part around the first axis, and the first part of the placement part. A second detector for detecting a swing angle about two axes, a swing angle about the first axis detected by the first detector, and a swing about the second axis detected by the second detector. And a control unit that controls rotation of the drive wheel based on a moving angle, and the support unit In a substantially central position in the width direction, to provide an electric mobility are swingably supported the placing portion on the second axis line.

  According to this aspect, the operator places both hands on the placing portion with his hands open, and swings the placing portion around the first axis extending in the vehicle width direction of the electric mobility. Further, the operator swings the mounting portion around the second axis extending in the direction orthogonal to the vehicle width direction of the electric mobility. Then, the swing angle of the placement unit around the first axis is detected by the first detection unit, and the swing angle of the placement unit around the second axis is detected by the second detection unit. The mounting portion can swing around a second axis extending in a direction orthogonal to the vehicle width direction at a substantially central position in the vehicle width direction.

  Accordingly, the operator can swing the mounting portion around the first axis by bending the wrist with both hands open. In addition, the operator can swing the mounting portion around the second axis by moving the left and right arms in different directions (vertical and longitudinal directions) with both hands open. Therefore, by maneuvering with both hands open, stable maneuvering can be achieved even when a sudden external force is applied to the electric mobility due to a step or the like.

  In addition, palms can be placed at both ends of the mounting portion in the vehicle width direction so that the mounting portion can be swung around the second axis at a substantially central position in the vehicle width direction. Intuitive maneuvering is possible.

  In the above aspect, the support portion may support the placement portion in a swingable manner around the second axis extending in the full length direction. By doing so, the operator can swing the mounting portion around the second axis by moving the left and right arms in different directions up and down with both hands open.

  In the above aspect, the control unit controls the forward or reverse speed based on the swing angle around the first axis detected by the first detection unit, and the second detection unit detects the second detection unit. The traveling direction may be controlled based on the swing angle around the axis. By doing so, the operator can appropriately control the forward or reverse speed and the traveling direction by intuitive maneuvering.

  In the above aspect, the front wheel disposed in front of the driving wheel at a distance from the driving wheel and the position fixed to the vehicle body frame and close to the driving wheel between the front wheel and the driving wheel. An arch type that is disposed so as to surround the driver seated on the seat from the left and right sides from the front to the front by the connecting portion, the support portion, and the placement portion. The handle may be configured. By doing so, the operator can sit on the seat with a sense of security that is surrounded and protected by the arched handle.

  In the above aspect, the mounting portion may be a tubular member formed so as to surround the support portion around the first axis. By doing in this way, a support part can be shielded from the exterior and protection of a support part, such as dust prevention and waterproofing, can be performed.

  According to the present invention, there is provided an operating device and an electric mobility that can be operated in a stable state even when sudden external force is applied, and that can be intuitively operated based on the center of the operator's body. There is an effect that it can be provided.

It is a side view showing electric mobility concerning one embodiment of the present invention. It is a rear view which shows the electric mobility of FIG. It is a block diagram which shows the electric mobility of FIG. It is a perspective view which shows an example of the driven wheel of the electric mobility of FIG. It is a partial top view which shows the relationship between the driven wheel of the electric mobility of FIG. 1, and a footrest part. It is a top view which shows the electric mobility of FIG. FIG. 2A is a perspective view illustrating an operation unit provided on the handle of the electric mobility in FIG. 1, and FIG. 2B is a perspective view illustrating an internal structure by breaking a plate. It is a left view which shows the operation part of FIG. It is a left view which shows the operation part of FIG. It is a left view which shows the operation part of FIG. It is a front view which shows the internal structure of the operation part of FIG.7 (b). It is a front view which shows the internal structure of the operation part of FIG.7 (b). It is a front view which shows the internal structure of the operation part of FIG.7 (b).

Electric mobility according to an embodiment of the present invention will be described below with reference to the drawings.
As shown in FIGS. 1 to 3, the electric mobility 1 according to the present embodiment includes a vehicle body frame 2, a driving wheel (rear wheel) 3 and a driven wheel (front wheel) 4 attached to the vehicle body frame 2, A seat 5 and a footrest 6 fixed to the body frame 2, a handle 7 attached to the body frame 2, and a control unit 8 that controls the drive wheels 3 are provided.

As shown in FIG. 2, the drive wheel 3 is a motor built-in type, and the stator of the motor 3b disposed at the center of the tire 3a in the radial direction is fixed to the vehicle body frame 2, and the rotor of the motor 3b is the tire 3a. It is fixed to.
Two drive wheels 3 are provided at intervals in the width direction of the body frame 2. The drive wheels 3 are attached so as to be rotatable around an axle extending horizontally in the width direction of the body frame 2. Each drive wheel 3 is driven independently by a separate motor 3b, and moves forward and backward linearly by matching the rotational speeds on the left and right sides, and changes direction by varying the rotational speeds. Can be done.

  As shown in FIG. 2, the drive wheel 3 is provided with a camber angle so that the width is widest at the contact point of the tire 3a. As a result, the running stability is improved, and the motor 3b built in the drive wheel 3 can be arranged on the inner side in the width direction than the grounding point so that the entire width of the electric mobility 1 can be suppressed.

  The driven wheel 4 is arranged in a central portion in the width direction of the body frame 2 at a position spaced from the driving wheel 3 in the traveling direction. In the present embodiment, the driven wheel 4 is an omnidirectional wheel (for example, an omni wheel or the like as shown in FIG. 4), and is rotatably attached around an axle extending horizontally in the width direction of the body frame 2. Yes. The omnidirectional wheel is a wheel that enables movement in all directions while the axle is fixed to the body frame 2. In FIG. 1 and FIG. 2, the code | symbol 4a is a wheel house.

  Since the omnidirectional wheel fixes the axle, it does not have to be rotated around an axis (for example, a vertical axis) intersecting the axle like a caster, and the installation space of the driven wheel 4 is small as shown in FIG. It has the advantage that it can be done. In the figure, a broken line shows an example of an installation space when a caster is employed. In particular, even if the diameter of the driven wheel 4 is increased in order to easily get over the unevenness of the road surface, it is not necessary to increase the installation space in the width direction, which is effective.

  The seat 5 is disposed above a position close to the drive wheel 3 between the drive wheel 3 and the driven wheel 4. In the present embodiment, the seat 5 is disposed so that the driven wheel 4 side is in front of the operator A in a state where the operator A is seated on the seat 5. The footrest 6 is disposed between the driving wheel 3 and the driven wheel 4 so as to extend in the traveling direction. In the footrest 6, the operator A puts his / her foot so that the toe is directed toward the driven wheel 4 in a sitting state where the operator A is seated.

  In the present embodiment, the handle 7 is provided so as to be swingable about a swing shaft B extending in the vehicle width direction in the vicinity of the axle position of the drive wheel 3. Therefore, the swing axis B is disposed below the seat 5. And the handle | steering-wheel 7 is comprised by the arch type extended so that the vehicle body frame 2 may be crossed in the vehicle width direction from the lower left and right both sides fixed to the rocking | fluctuation shaft B, as FIG. 6 shows.

  The handle 7 includes a left handle portion 7a connected to the vehicle body frame 2 in the vicinity of the left drive wheel 3, a right handle portion 7b connected to the vehicle body frame 2 in the vicinity of the right drive wheel 3, and an operation unit (operation Device) 7c. The operating portion 7c has a left end connected to the tip of the left handle portion 7a and a right end connected to the tip of the right handle portion 7b. The operation portion 7 c is disposed on an arched top portion that serves as the swing end of the handle 7.

  The right handle portion 7b and the right end of the operation portion 7c are connected at a position D so that they cannot be separated, and the left handle portion 7a and the left end of the operation portion 7c are connected at a position C so as to be separable. In the handle 7, a portion (first handle portion) where the right handle portion 7 b and the operation portion 7 c are connected and a left handle portion 7 a (second handle portion) are detachably connected. . As is clear from FIG. 2, the left handle portion 7 a (second handle portion) is shorter than the portion (first handle portion) including the operation portion 7 c located at the top of the handle 7.

  As a mechanism for detachably connecting the left handle portion 7a and the left end of the operation portion 7c, various connection mechanisms can be employed. For example, a snatch lock (registered trademark) used for a door of an automobile or the like can be used as a coupling mechanism. Specifically, a snatch lock (engagement member) is disposed at the tip of the left handle portion 7a, a receiver (engaged member) is disposed at the left end of the operation portion 7c, and they are connected by engaging them. . The snatch lock remains connected to the receiver when it is not unlocked by the lever provided in the snatch lock, and can be separated from the receiver when unlocked by the lever.

As shown in FIG. 7, the operation unit (operation device) 7 c includes a plate (mounting unit) 9 a that places both hands in a state where the operator A is lightly opened, and two plates 9 a that are orthogonal to each other. And a support mechanism 11 that supports the shafts 9b and 9c so as to be swingable.
In the present embodiment, as shown in FIG. 7A, the plate 9 a is formed in a cylindrical shape that covers the support mechanism 11. The plate 9a is a member on which both hands of the operator A can be placed with the hands open.

As shown in FIG. 7B, the support mechanism (support member) 11 includes a base member 11a fixed to the handle 7, and an axis 9b (fixed to the base member 11a and extending in the front-rear direction through the intermediate member 11b. A first motor 11c supported so as to be swingable about a second axis), and a second motor fixed to the intermediate member 11b and supported so as to be swingable about an axis 9c (first axis) extending in the left-right direction. 11d. The 2nd motor 11d is hold | maintained at the connection member 11e, and is connected with the plate 9a via the connection member 11e. The plate 9a is a cylindrical member formed so as to surround the support mechanism 11 around the axis 9c.
The support mechanism 11 is a general term for mechanisms including the base member 11a, the intermediate member 11b, the first motor 11c, the second motor 11d, and the connecting member 11e described above.

The axis 9c extends in the left-right direction on the plate 9a, and the left-right direction coincides with the vehicle width direction of the electric mobility 1. In addition, the axis 9 b coincides with the full length direction of the electric mobility 1 that is orthogonal to the vehicle width direction of the electric mobility 1.
The right end of the base member 11a viewed from the driver A is connected to the right handle portion 7b at a position D by a connecting mechanism (connecting portion) (not shown). Further, the left end of the base member 11a viewed from the operator A is connected to the left handle portion 7a at a position D by a connecting mechanism (connecting portion) (not shown).

  The first motor 11c includes an angle sensor (second detection unit) 10a that detects a swing angle around the axis 9b (second axis) of the intermediate member 11b with respect to the base member 11a. In addition, the second motor 11d includes an angle sensor (first detection unit) 10b that detects a swing angle around the axis 9c (first axis) of the plate 9a with respect to the intermediate member 11b. Outputs from these angle sensors 10a and 10b are sent to the control unit 8 as shown in FIG. 3 and used for controlling the drive wheels 3, and are fed back to the first motor 11c and the second motor 11d. This is used to generate a reaction force against the force from the operator A applied to the plate 9a.

  Further, the control unit 8 determines that the plate 9a is not inclined to the origin position, that is, the front, back, left, or right, based on the outputs from the angle sensors 10a, 10b provided in the first motor 11c and the second motor 11d. The first motor 11c and the second motor 11d are controlled so as to return to. Thereby, when the operator A releases his / her hand from the plate 9a, the electric mobility 1 stops.

  The control unit 8 generates a control signal for controlling the driving wheel 3 based on the swing angle of the plate 9a detected by the angle sensors 10a and 10b provided in the first motor 11c and the second motor 11d, and each driving wheel. 3 is supplied.

Next, detection of the swing angle of the plate 9a of the operation unit 7c and control of the electric mobility 1 will be described with reference to FIGS.
8 to 10 are left side views showing the left side of the operation unit 7c when the operation unit 7c is viewed with reference to the operator A, showing the operation unit 7c of FIG. 10 to 13 are front views showing the internal structure of the operation unit 7c shown in FIG. 7B and showing the front of the operation unit 7c when the operation unit 7c is viewed with the operator A as a reference.

  8 and 11 show the operation unit 7c when the electric mobility 1 is in a stopped state. In the state shown in FIGS. 8 and 11, each of the angle sensors 10 a and 10 b transmits a signal indicating that the swing angle is 0 ° to the control unit 8. When the signals received from the angle sensors 10a and 10b indicate that the swing angle is 0 °, the control unit 8 does not generate a control signal for the left and right drive wheels 3, and stops the electric mobility 1. Leave it alone.

  When the operator A tilts the plate 9a forward about the axis 9c, as shown in FIG. 9, the plate 9a and the connecting member 11e connected to the plate 9a rotate about the axis 9c in the direction of the arrow (counterclockwise in FIG. 9). Around). In the state shown in FIG. 9, the angle sensor 10 b transmits a signal indicating the swing angle to the control unit 8. When receiving the signal indicating the swing angle from the angle sensor 10b, the controller 8 outputs the same drive command signal corresponding to the swing angle to the two drive wheels 3. Thus, the two drive wheels 3 rotate in the same direction at the same speed according to the swing angle detected by the angle sensor 10b, and the electric mobility 1 is advanced. In this case, the forward speed is adjusted so as to increase as the swing angle (tilt angle) of the plate 9a increases.

  Similarly, when the pilot A tilts the plate 9a backward about the axis 9c, as shown in FIG. 10, the plate 9a and the connecting member 11e connected to the plate 9a rotate about the axis 9c in the direction of the arrow in FIG. Rotate (clockwise). In the state shown in FIG. 10, the angle sensor 10 b transmits a signal indicating the swing angle to the control unit 8. When receiving the signal indicating the swing angle from the angle sensor 10b, the controller 8 outputs the same drive command signal to the two drive wheels 3 in the opposite direction to that shown in FIG. It has become. Thereby, the electric mobility 1 moves backward. In this case, the reverse speed is adjusted so as to increase as the swing angle (tilt angle) of the plate 9a increases, but is controlled so as to be lower than the forward speed.

  When the pilot A tilts the plate 9a to the right around the axis 9b, as shown in FIG. 12, the intermediate member 11b connected to the plate 9a via the connecting member 11e and the axis 9c is rotated about the axis 9b. 12 rotates in the direction in which the right end in FIG. 12 falls and the left end rises. In the state shown in FIG. 12, the angle sensor 10 a transmits a signal indicating the swing angle to the control unit 8. When the control unit 8 receives the signal indicating the swing angle from the angle sensor 10a, the control unit 8 makes the left driving wheel 3 rotate faster than the right driving wheel 3 of the operator A or the left driving wheel. Control is performed so that 3 rotates forward and the right driving wheel 3 rotates backward. Thereby, the electric mobility 1 is steered rightward.

  When the operator A tilts the plate 9a to the left around the axis 9b, as shown in FIG. 13, the intermediate member 11b connected to the plate 9a via the connecting member 11e and the axis 9c is rotated about the axis 9b. In FIG. 13, the left end is lowered and the right end is turned up. In the state shown in FIG. 13, the angle sensor 10 a transmits a signal indicating the swing angle to the control unit 8. When the control unit 8 receives the signal indicating the swing angle from the angle sensor 10a, the control unit 8 makes the rotational speed of the right drive wheel 3 faster than the left drive wheel 3 of the operator A or the right drive wheel. Control is performed so that 3 rotates forward and the left driving wheel 3 rotates backward. Thereby, the electric mobility 1 is steered leftward.

  Furthermore, when the electric mobility 1 is moving forward and the plate 9a is tilted to the maximum extent around the second axis 9c, the controller 8 performs two emergency stop processes in a short time. The operation of the drive wheel 3 is stopped.

As described above, the control unit 8 controls the forward and backward movement of the electric mobility 1 according to the swing angle around the axis 9c of the plate 9a, and the electric mobility 1 according to the swing angle around the axis 9b of the plate 9a. Control the steering direction. Since the swing of the plate 9a around the axis 9c and the swing of the plate 9a around the axis 9b are performed independently, the forward and backward control of the electric mobility 1 and the control of the steering direction of the electric mobility 1 are controlled. Are also performed independently.
That is, the control unit 8 calculates a control signal for each driving wheel 3 based on both the signal indicating the swing angle from the angle sensor 10a and the signal indicating the swing angle from the angle sensor 10b, The calculated control signal is transmitted to 3. Therefore, the control unit 8 transmits a control signal to each drive wheel 3 so that the electric mobility 1 is steered in the right direction while moving forward, or each drive wheel 3 so that the electric mobility 1 is moved backward without changing the steering direction. To transmit control signals.

  In addition, the axis line 9b shown in FIGS. 11 to 13 is disposed at a substantially central position in the vehicle width direction of the electric mobility 1. That is, the support mechanism 11 supports the plate 9a so as to be swingable about the axis 9b at a substantially central position in the vehicle width direction of the plate 9a. Since the pilot A is seated at a substantially central position in the vehicle width direction, the plate 9a swings around an axis 9b that coincides with the center of the pilot A's body.

  In the present embodiment, the plate 9a is a member that can place both hands of the operator A with the hands open. Although the rectangular parallelepiped plate 9a having rounded corners has been described in the present embodiment, other shapes may be used. For example, as long as it can be placed with the hand open, it may have a shape provided with a protrusion that fits the hand with the hand lightly opened. In addition, for example, a recess that is easy to fix the palm by hooking other fingers except the thumb may be provided on the surface arranged in front of the electric mobility 1.

  Further, for example, the plate 9a may have a shape in which the upper surface gradually increases in height from the front of the operator A toward the back (front of the vehicle). In this case, for example, a hole for fixing a hand by placing a thumb at a substantially central position in the vehicle width direction on the upper surface of the plate 9a may be provided. This hole may be one hole into which the thumbs of both hands can be put, or two holes into which the thumbs of the right hand and the left hand can be put respectively.

  Further, for example, the plate 9a may be provided with slits extending in the vehicle width direction at a plurality of locations on the upper surface. By doing in this way, air permeability can be improved compared with the case where the slit is not provided. Further, instead of providing a slit in the plate 9a, a plurality of pipes extending in the vehicle width direction are arranged in the entire length direction of the electric mobility 1, and a structure in which the plurality of pipes are arranged is equivalent to the plate 9a provided with the slits. A structure may be used.

  For example, the plate 9a may be provided with a mark that allows the operator A to easily recognize the position where both hands should be placed. In this way, the operator A can easily place both hands at a position suitable for operation. Further, this mark may be provided as a protrusion that can be recognized by tactile sensation by touching with a hand.

  Further, for example, a rod-like member extending in the vehicle width direction of the electric mobility 1 may be arranged at a position spaced apart from the upper surface of the plate 9a so that the fingertip enters. By inserting the fingertip between the rod-shaped member and the upper surface of the plate 9a, the upper and lower portions of the fingertip are fixed, and the positions of both hands are stabilized. Instead of the rod-like member, for example, a cloth or a string-like elastic member given tension in the vehicle width direction may be used.

  Further, for example, the plate 9 a may be formed in a plate shape that covers only the upper part of the support mechanism 11 instead of a cylindrical shape that covers the entire support mechanism 11. For example, you may form so that the upper part of the support mechanism 11, a part of the vehicle front side of the support mechanism 11, and a part of the vehicle rear side may be covered.

  Moreover, in the operation part 7c shown by FIGS. 8-10, although the axis line 9c is arrange | positioned in the center position of the width direction (full length direction of the electric mobility 1) of the plate-shaped plate 9a, it is another aspect. Also good. For example, the axis 9c of the support mechanism 11 may be arranged behind (the driver A side) from the center position in the width direction of the plate 9a (full length direction of the electric mobility 1). By doing so, when the pilot A is placed on the plate-like plate 9a with the palms of both hands lightly opened, the swinging position around the axis 9c of the plate 9a is close to the wrist of the pilot A. Become. Thereby, it is easy to swing the plate 9a around the axis 9c, and it is difficult to get tired even if it is operated for a long time.

The operation of the electric mobility 1 according to this embodiment configured as described above will be described below.
According to the electric mobility 1 of the present embodiment, the operator A puts his hands on the plate 9a (mounting portion) with his hands open, and the axis 9c (the first axis 9c) extending in the vehicle width direction of the electric mobility 1 is placed on the plate 9a. Swing around one axis). The pilot A swings the plate 9a about an axis 9b (second axis) extending in a direction orthogonal to the vehicle width direction of the electric mobility 1. The swing angle of the plate 9a around the axis 9c is detected by the angle sensor 10b (first detection unit), and the swing angle of the plate 9a around the axis 9b is detected by the angle sensor 10a (second detection unit). . The plate 9a can swing around an axis 9b extending in a direction orthogonal to the vehicle width direction at a substantially central position in the vehicle width direction. Further, in the electric mobility 1 of the present embodiment, the support mechanism 11 supports the plate 9a so as to be swingable about an axis 9b extending in the full length direction of the electric mobility 1.

  As a result, the operator A can swing the plate 9a around the axis 9c by bending the wrist with both hands open. Further, the operator A can swing the plate 9a around the axis 9b by moving the left and right arms in different directions (up and down directions) with both hands open. Therefore, by maneuvering with both hands open, stable maneuvering can be achieved even when a sudden external force is applied to the electric mobility due to a step or the like.

  Further, by placing palms at both ends of the plate 9a in the vehicle width direction and moving the left and right arms in different directions, the plate 9a can be swung around the axis 9b at a substantially central position in the vehicle width direction. Therefore, intuitive maneuvering based on the center of the operator A's body is possible.

  In the present embodiment, the plate 9a is a cylindrical member formed so as to surround the support mechanism 11 around the axis 9c. By doing in this way, the support mechanism 11 can be shielded from the outside and the support mechanism 11 can be protected such as dustproof and waterproof.

  When traveling using the electric mobility 1 according to the present embodiment, the pilot A places his / her foot on the footrest 6 with his toe facing the driven wheel 4 side and sits on the seat 5. Then, the handle 7 is arranged at the position shown in FIG. As a result, the handle 7 is disposed so as to surround the front from below the left and right sides of the operator A. As a result, the steering wheel 7 covers the front of the pilot A in the traveling direction and can give the pilot A a sense of security that it is protected.

  Further, since the seat 5 is disposed between the driven wheel 4 and the driving wheel 3, the center of gravity of the seated operator A is disposed between the driven wheel 4 and the driving wheel 3, and the driven wheel 4 and the driving wheel are arranged. 3 has an advantage that it can be distributed and supported in a well-balanced manner and can stably travel.

  On the other hand, the handle 7 is disposed so as to extend obliquely forward from the vicinity of the swing axis B disposed below the seat 5, so that an open space is provided around the upper body of the seated operator A. Can be secured. Thereby, the operator A in a sitting state can extend his hand to the vicinity of the ground of the drive wheel 3 by lying down on the body while sitting down. For example, when the electric mobility 1 is used for shopping in a supermarket or the like, the operator A himself / herself can pick up the commodity at the lower part of the display shelf.

  When the operator A is seated and extends both arms lightly forward, the operation portion 7c is disposed at that position, so both hands are placed side by side on the plate 9a of the operation portion 7c, and the plate 9a is moved by wrist movement. The vehicle can be steered simply by tilting the plate 9a forward and backward, changing the load applied to both hands, and tilting the plate 9a left and right.

  The plate 9a moves forward when the plate is inclined forward, moves backward when the plate is inclined backward, turns left when the plate is tilted left, and turns right when the plate is tilted to the right.

  Since both hands are arranged on the plate 9a, a moment in the opposite direction is applied with both hands around the axes of the first motor 11c and the second motor 11d constituting the operation portion 7c, as compared with the case of operating with only one hand. This makes it easy to balance the moments and finely adjust the speed and steering angle with both hands. Moreover, according to the operation part 7c with which the electric mobility 1 of this embodiment was equipped, it moves forward / backward and steers only by moving both hands placed on the plate 9a by changing the wrist angle or the elbow angle. be able to.

  Therefore, it is not necessary to hold the plate 9a or move the elbow back and forth, and even a pilot with a handicapped hand can be easily operated. In addition, according to this operation part 7c, instead of operating the plate 9a with both hands, if one hand is placed in the center of the plate 9a, the operation can be performed with only one hand.

  Further, in the electric mobility 1 according to the present embodiment, the left and right drive wheels 3 are separately controlled to take charge of both driving and steering, and the driven wheel 4 is configured by an omnidirectional wheel. Installation space is reduced. As a result, the driven wheel 4 having a large diameter can be adopted, and the road surface unevenness can be easily overcome.

Moreover, since the axle of the driven wheel 4 is fixed to the vehicle body frame 2, the installation space in the width direction is particularly reduced. As a result, a sufficient footrest 6 can be secured even when the driven wheel 4 is brought close to the drive wheel 3, and the body frame 2 can be made compact. And by being comprised compactly in that way, the handle 7 can be lowered so as not to interfere with the driven wheel 4.
By lowering the handle 7 to a position in contact with the ground, it is possible to easily get on and off the handle 7 and to achieve a compact storage form as a storage position when not in use.

Further, in the present embodiment, the driving wheels and the driven wheels are arranged with an interval in the traveling direction, but all the wheels may be driving wheels, or only one wheel may be the driving wheels.
In the present embodiment, the angle of the handle is detected by the angle sensors 10a and 10b. However, the angle sensors 10a and 10b are not limited to sensors that measure the angle, and the handle 7 is specified. It also includes a sensor for detecting that the angle is reached by magnetism or light.

  In the present embodiment, the support mechanism 11 generates the reaction force of the force applied to the plate 9a by the first motor 11c and the second motor 11d. Instead, the reaction force is generated by a spring. You may decide to do it.

  Moreover, in this embodiment, although the axial direction of the axis line 9b shall correspond with the full length direction of the electric mobility 1 orthogonal to the vehicle width direction of the electric mobility 1, another aspect may be sufficient. For example, the axial direction of the axis 9b may coincide with the entire height direction (vertical direction perpendicular to the ground) of the electric mobility 1 orthogonal to the vehicle width direction of the electric mobility 1. In this way, the operator A can swing the plate 9a around the axis 9b by moving the left and right arms in different directions in the front-rear direction with both hands open.

A pilot B axis 1 electric mobility 2 body frame 3 driving wheel 4 driven wheel 5 seat 6 footrest 7 handle 7c operation unit (operation device)
8 Control part 9a Plate (mounting part)
9b axis (second axis)
9c axis (first axis)
10a Angle sensor (second detector)
10b Angle sensor (first detector)
11a Base member 11b Intermediate member 11c First motor 11d Second motor 11e Connecting member

Claims (7)

An operating device for operating electric mobility comprising at least one electric drive wheel,
A placement unit capable of placing both hands of the operator of the electric mobility with the hand open; and
The mounting portion is swingably supported around a first axis extending in the vehicle width direction of the electric mobility, and the mounting portion is swingable around a second axis extending in a direction orthogonal to the vehicle width direction. A supporting part to support;
A connecting part for connecting the support part to the electric mobility;
A first detection unit that detects a swing angle of the placement unit around the first axis;
A second detection unit that detects a swing angle of the placement unit around the second axis,
The operation device, wherein the support portion supports the placement portion so as to be swingable about the second axis at a substantially central position in the vehicle width direction of the placement portion.   2. The operating device according to claim 1, wherein the support portion swingably supports the placement portion around the second axis extending in a full length direction of the electric mobility. At least one electrically driven wheel;
A vehicle body frame that rotatably supports the drive wheel around an axle;
A placement unit capable of placing the pilot's hands with the hands open;
A support portion that swingably supports the mounting portion around a first axis that extends in the vehicle width direction, and that swingably supports the mounting portion around a second axis that extends in a direction orthogonal to the vehicle width direction. When,
A connecting portion for connecting the support portion to the vehicle body frame;
A first detection unit that detects a swing angle of the placement unit around the first axis;
A second detection unit that detects a swing angle of the placement unit around the second axis;
Control for controlling rotation of the drive wheel based on a swing angle around the first axis detected by the first detector and a swing angle around the second axis detected by the second detector. And
Electric mobility in which the support portion supports the placement portion so as to be swingable about the second axis at a substantially central position in the vehicle width direction of the placement portion.   The electric mobility according to claim 3, wherein the support portion supports the placement portion so as to be swingable about the second axis extending in the full length direction.   The controller controls the forward or reverse speed based on the swing angle around the first axis detected by the first detector, and swings around the second axis detected by the second detector. The electric mobility according to claim 3 or 4, wherein a traveling direction is controlled based on an angle. A front wheel disposed in front of the driving wheel and spaced from the driving wheel;
A seat fixed to the vehicle body frame and disposed above a position between the front wheel and the drive wheel adjacent to the drive wheel;
The arch type handle arranged so as to surround the pilot seated in the seat from the left and right sides from the front to the front is composed of the connecting portion, the support portion, and the mounting portion. Item 6. The electric mobility according to any one of items 5.   The electric mobility according to any one of claims 3 to 6, wherein the placement portion is a cylindrical member formed so as to surround the support portion around the first axis.

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