JP2016007914A - Manual propulsion vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manual propulsion vehicle which grasps user's intension without needing displacement of a handle which provides a feeling of discomfort to the user.SOLUTION: A manual propulsion vehicle includes: a handle part; a holding part which is rigidly coupled to the handle part; a detection part which is attached to the holding part and detects micro deformation of the handle part; and a contact part which is attached to the detection part so as to contact with the handle part. The detection part detects micro deformation of the holding part through the contact part.

Description

  The present invention relates to a manually propelled vehicle (walking assist vehicle, stroller, carriage, wheelchair, etc.).

  In recent years, it has been considered to install a human power assist function (so-called electric assist function) in a manually propelled vehicle (especially a walking assist vehicle for supporting the going out of elderly people with weak legs and those who are worried about walking). Yes.

  Such a manually propelled vehicle generally includes a handle that is operated by a user, a wheel, a sensor that detects a handle operation by the user, and a drive unit that drives the wheel based on the output of the sensor. .

  For example, in Patent Document 1, the handle is supported by a leaf spring, and the amount of displacement when the handle is moved in the forward / backward, left / right, and rotating directions is measured with a non-contact distance sensor, and the user's intention (traveling direction) is specified. In addition, it is described that human power assistance is performed according to the intention of the user.

JP 09-86413 A

  According to Patent Document 1, it is possible to grasp the user's intention by measuring the amount of displacement of the handle. However, the large displacement of the handle makes the user uncomfortable and leans back. In some cases, the handle may be displaced, causing the posture to collapse and falling.

  In view of the above problems, an object of the present invention is to provide a manually propelled vehicle that can grasp the user's intention without requiring a displacement of the handle that causes discomfort to the user.

  In order to achieve the above object, a manual propulsion vehicle according to the present invention includes a handle portion, a holding portion that is rigidly coupled to the handle portion, and a detection that is attached to the holding portion and detects minute deformation of the handle portion. And a contact part attached to the detection part so as to come into contact with the handle part, and the detection part detects minute deformation of the grip part via the contact part. .

  In the manual propulsion vehicle configured as described above, it is desirable that the contact portion and the handle portion are in contact with each other by line contact or point contact.

  In the manual propulsion vehicle configured as described above, an outer peripheral surface of the handle portion has a convex curved surface portion, and the contact portion is in contact with the curved surface portion, and the contact portion is in contact with the curved surface portion. Is preferably flat.

  In the manual propulsion vehicle having the above-described configuration, it is desirable that the manual propulsion vehicle includes a position adjusting unit that can adjust an attachment position of the contact unit with respect to the detection unit.

  In the manual propulsion vehicle configured as described above, it is desirable that a loosening prevention member is disposed between the contact portion and the detection portion.

  According to the present invention, the detection unit is provided with the contact part that contacts the handle part, and the detection part detects minute deformation of the handle part via the contact part. With this configuration, it is possible to grasp the user's intention based on the minute deformation of the handle portion that does not cause discomfort to the user.

Front view of walking assistance vehicle Rear view of walking assistance vehicle Left side view of walking assistance vehicle Right side view of walking assistance vehicle Top view of walking assistance vehicle Bottom view of walking assistance vehicle Functional block diagram of walking assistance vehicle Schematic plan view showing one configuration example of the wheel unit and the wheel drive mechanism unit Functional block diagram showing a configuration example of the wheel drive mechanism The figure which shows the back inclination base point part provided in a cover member The perspective view which shows the internal structure of the handle part which concerns on 1st Embodiment. The top view which shows the internal structure of the handle part which concerns on 1st Embodiment. The right view which shows the internal structure of the handle part which concerns on 1st Embodiment. AA sectional view of FIG. Correlation diagram of handlebar operation status, sensor detection status, and motor drive status Correlation diagram of use state of back tilt base point, detection state of sensor, and motor drive state The top view which shows the internal structure of the handle part which concerns on 2nd Embodiment. The right view which shows the internal structure of the handle part which concerns on 2nd Embodiment. The top view which shows the internal structure of the handle part which concerns on 3rd Embodiment. The right view which shows the internal structure of the handle part which concerns on 3rd Embodiment. List view showing examples of shapes that can be taken as a handlebar

<First Embodiment>
1A to 1F are external views (a front view, a rear view, a left side view, a right side view, a plan view, and a bottom view) showing an overall image of a walking assistance vehicle, respectively. FIG. 2 is a functional block diagram of the walking assistance vehicle. Hereinafter, the first embodiment of the walking assistance vehicle will be described in detail with reference to each drawing as appropriate.

  In the following description, the upper side of the observer facing the paper surface of FIG. 1B is “upper”, the lower side is “lower”, the left hand side is “left”, the right hand side is “right”, and the paper surface of FIG. The left-hand side of the observer facing the front is described as “front”, and the right-hand side is described as “back” or “rear”.

  The walking assistance vehicle 1 is a manually propelled vehicle (so-called silver car) that assists the user (mainly elderly people with weak legs) and is also used as a luggage carrying basket and a resting chair. The vehicle body unit 10, the handle unit 20, the wheel unit 30, the luggage compartment unit 40, the backrest unit 50, the user interface unit 60, the sensor unit 70, the control unit 80, the electric mechanism unit 90, Power supply unit 100.

  The vehicle body part 10 is a chassis (framework) of the walking auxiliary vehicle 1 and is mounted with the components 20 to 100 mentioned above. In addition, as a frame material forming the vehicle body portion 10, stainless steel, aluminum alloy, or the like can be used.

  The vehicle body portion 10 includes a vehicle body front portion 10a and a vehicle body rear portion 10b. A luggage compartment 40 is formed in the vehicle body front portion 10a. The vehicle body rear portion 10b is a substantially rectangular parallelepiped box member, and at least the electric mechanism portion 90 is built therein. A column member 11, which is a wide plate member, is attached to the upper portion of the vehicle body rear portion 10 b. The vehicle body rear portion 10b and the column member 11 support the handle portion 20 at a high position with respect to the traveling surface of the walking assist vehicle 1 so that the user of the walking assist vehicle 1 can easily operate the handle portion 20 in the standing position. To play a role.

  The handle portion 20 includes a handle portion main body 20 a and a handle bar 21. The handle portion main body 20 a is a hollow box member connected to the upper end portion of the column member 11. The handle bar 21 is a bar-shaped member that is held by the user when walking. The outer peripheral surface of the handle bar 21 is formed in a shape (for example, a columnar shape or a cylindrical shape) having a convex curved surface in a direction perpendicular to the axial direction of the handle bar 21 so that the user can easily grip it. The user can turn the auxiliary walking vehicle 1 forward, backward, brake, and turn left and right by applying human power by grasping the left and right ends of the handlebar 21 with both hands.

  Circular through holes are formed in the left side surface and the right side surface of the handle portion main body 20a, respectively. The diameters of both through holes are set longer than the diameter of the handle bar 21. Thus, when the handle portion 20 is assembled, the left end portion and the right end portion of the handle bar 21 protrude leftward and rightward from the handle portion main body 20a, and the central portion of the handle bar 21 is disposed in the handle portion main body 20a. .

  A user interface unit 60 is provided on the upper surface of the handle unit body 20a. The user interface unit 60 is provided to be inclined rearward so that a user standing behind the walking auxiliary vehicle 1 can easily operate. In the handle portion main body 20a, an operation force that causes the handle sensor 71 (to be described later) to detect an operation force on the handlebar 21 (a force that the user applies to the handlebar 21 to move the walking assist vehicle 1 in a predetermined direction). A detection structure is incorporated, and details will be described later.

  The wheel portion 30 is in front of the vehicle body portion 10, that is, the front caster 31 (the left front caster 31L and the right front caster 31R) attached to the left end portion and the right end portion of the lower surface of the vehicle body front portion 10a, the rear portion of the vehicle body portion 10, That is, it has the rear wheel part 32 (left rear wheel 32L and right rear wheel 32R) attached to the left end part and right end part of the lower surface of the vehicle body rear part 10b.

  The front caster 31 is a direction changing caster. The left front caster 31L and the right front caster 31R can be rotated by the mounting portion 311 (the left mounting portion 311L and the right mounting portion 311R) fixedly attached to the vehicle body front portion 10a, and can be rotated in the horizontal direction. The front wheel 312 (the left front wheel 312L and the right front wheel 312R) is provided (see FIGS. 1C and 1D). Each of the left rear wheel portion 32L and the right rear wheel portion 32R supports a rear wheel 321 (left rear wheel 321L and right rear wheel 321R) that is rotated about the axle center by human power (or auxiliary power), an axle, A cover member 322 (left cover member 322L and right cover member 322R) that covers the upper portion of the rear wheel 321 and is attached to the rear portion 10b of the vehicle body is provided (see FIGS. 1C and 1D). The cover member 322 may be formed integrally with the vehicle body rear portion 10b.

  The left rear wheel 321L and the right rear wheel 321R are independently driven and controlled by the wheel drive mechanisms 91L and 91R corresponding thereto.

  On the inner side surfaces of the left cover member 322L and the right cover member 322R (the side surfaces on the inner ring side of the left rear wheel 321L and the right rear wheel 321R), the rear tilt base point portion 33 (the left rear tilt base point portion 33L and the right rear tilt base point portion 33R). Is provided. FIG. 5 is a view showing a backward tilt base point portion 33R provided on the right cover member 322R. The rearwardly inclined base point portion 33R is provided so as to protrude downward from the cover member 322R, the rear surface 33a has a flat surface extending in the vertical direction, and a non-slip member 331 is provided below the rear surface 33a. The lower surface 33b of the rearward tilt base point 33 has a predetermined gap (for example, about 2 cm) with respect to the travel surface so as not to contact the travel surface during travel and rearward tilt (when a vehicle body portion 10 described later is in a rearward tilt posture). Is provided.

  The rear tilt base point 33 moves the vehicle body 10 in a normal posture (a state in which all four wheels (front wheels 312 and rear wheels 321) are in contact with the traveling surface) and a rear tilt posture (the front wheels 312 are lifted and only the rear wheels 321 are traveling). It is a base point part for moving between the state in contact with the surface. For example, when the vehicle body 10 is tilted backward using the right rearward tilt base portion 33R, the user moves the right leg to the vicinity of the inner wheel of the right rear wheel 321R and keeps the sole in contact with the running surface (reverse drive). An example of a blocking body is brought into contact with the right rearward tilt base portion 33R. At that time, when the subsequent operation is performed by bringing the anti-slip member 331 formed on the rear surface 33a of the right rearward tilt base portion 33R into contact with the toe, the toe is prevented from sliding on the rear surface 33a.

  By bringing the tip of the toe into contact with the right rearward tilt base portion 33R, the same effect as the presence of an obstacle behind the walking assistance vehicle 1 is obtained (the movement of the walking assistance vehicle 1 to the rear is limited). In this state, when the user operates the handlebar 21 to move the auxiliary walking vehicle 1 backward, the operation force is converted into a rotational force that causes the vehicle body unit 10 to tilt backward with the right rearward tilt base point 33R as a base point. The front wheel 312 is lifted upward.

  When the vehicle body 10 is tilted rearward, the action point, fulcrum, and force point are the center of gravity of the vehicle body 10, the contact position between the rearward tilt base 33 and the retraction blocker, and the contact between the user's hand and the handlebar 21. Position. As described above, the handle portion 20 is supported at a high position with respect to the traveling surface of the walking assist vehicle 1 by the vehicle body rear portion 10 b and the support member 11. Therefore, the distance from the power point to the fulcrum is extremely longer than the distance from the action point to the fulcrum, and the vehicle body 10 can be tilted backward with a small force.

  When the user has a step in the forward direction and the front wheel 312 comes into contact with the step and it becomes difficult to move forward, the vehicle body 10 is moved to a tilted posture as described above to lift the front wheel 312, thereby It is possible to move forward over the steps.

  The luggage compartment portion 40 is a box-shaped member that can accommodate luggage therein. A cushion member is attached to the upper lid of the luggage compartment 40 and functions as a seating surface for the user to sit down when seated.

  The backrest part 50 is a plate-like member for the user to leave his / her back when seated. In the present embodiment, the vehicle body rear part 10b and the column member 11 designed to be relatively wide function as the backrest part 50.

  The user interface unit 60 is means for exchanging information between the user and the control unit 80. For example, a manual operation unit 61 (such as an on / off switch button for the electric assist function) or a notification unit 62 is provided. (Speakers, light emitting diodes, liquid crystal display panels, etc.).

  The sensor unit 70 is a means for monitoring the surrounding conditions and usage conditions of the walking assistance vehicle 1, or the walking posture of the user. The sensor unit 70 detects the minute deformation of the handlebar 21, and the backward tilt base point unit 33. And a backward tilt base point sensor 72 for detecting that the receding contact body has come into contact.

  The handle sensor 71 is a sensor that detects a micro deformation of the handle bar 21 by detecting a distortion generated in the handle bar 21 based on a micro deformation of the handle bar 21 caused by an operation force applied to the handle bar 21, and includes four handle sensors 71a to 71a. 71d. The configuration and operation of the handle sensor 71 will be described later.

  The backward tilt base point sensor 72 detects a backward tilt base point sensor 72a that detects that the reverse travel blocker is in contact with the left rear tilt base point portion 33L, and detects that the reverse travel blocker is in contact with the right backward tilt base point portion 33R. And a backward tilt base point sensor 72b. The operation of the handle sensor 72 will be described later.

  The handle sensor 71 and the backward tilt base point sensor 72 are pressure-sensitive conductive elements that convert a change in pressure into a change in electrical resistance. However, not only the pressure-sensitive conductive element but also, for example, a mechanical switch may be used.

  The control unit 80 is a logic circuit (such as a microcomputer) that comprehensively controls the user interface unit 60, the sensor unit 70, and the electric mechanism unit 90. In particular, the control unit 80 sets various parameters of the wheel drive mechanism unit 91 (such as motor rotation direction, rotation speed, and target value of rotation torque) according to the output of the handle sensor 71, thereby enabling the user. The processing unit 81 and the wheel drive control unit 82 are included as functional blocks for realizing human power assistance according to the intention of the user. The processing unit 81 determines drive target values for the left and right rear wheels 321L and 321R according to the output of the handle sensor 71. The wheel drive control unit 82 individually controls the rotation direction, the rotation speed, and the rotation torque of the left and right rear wheels 321L and 321R according to the drive target value.

  Further, the control unit 80 sets various parameters of the wheel drive mechanism unit 91 according to the output of the backward tilt base point sensor 72, thereby realizing human power assistance for easily moving the vehicle body unit 10 to the backward tilted posture. To do. The control unit 80 executes the control (passing support) based on the output of the backward tilt base point sensor 72 with priority over the control (running support) based on the output of the handle sensor 71.

  The electric mechanism unit 90 is means for electrically driving each part of the walking assist vehicle 1 in accordance with an instruction from the control unit 80. In the present embodiment, the rear wheel 321 is electrically driven in accordance with an instruction from the control unit 80. The wheel drive mechanism part 91 to be included is included. The wheel drive mechanism 91 is provided with left and right wheel drive mechanisms 91L and 91R individually to control the left and right rear wheels 321L and 321R independently.

  The power supply unit 100 is means for supplying power to the user interface unit 60, the handle sensor 71, the control unit 80, and the electric mechanism unit 90. As the power supply unit 100, a secondary battery (such as a lithium ion battery or a nickel metal hydride battery) that can be attached to and detached from the vehicle body unit 10 may be used.

<Operation force detection structure>
The operating force detection structure provided in the handle portion main body 20a has an operating force applied to the handlebar 21 (force applied to the handlebar 21 for the user to move the walking assist vehicle 1 in a predetermined direction) to the handle sensor 71. It is a means to make it detect. 6 to 8 are external views (a perspective view, a plan view, and a right side view) showing the operating force detection structure, respectively. 9 is a cross-sectional view taken along the line AA of FIG.

  The operating force detection structure has a handle holder (holding portion) 22 that holds the center portion of the handle bar 21. A substantially fixed central portion of the handle holder 22 is provided with a first fixing member 22a having a semicircular arc-shaped upper surface opened in a side view, and the handle bar 21 is disposed on the first fixing member 22a. Thus, the semicircular arc-shaped second fixing member 23 whose lower part is opened in a side view is put on the handle bar 21 (see FIG. 8).

  The handle holder 22 (including the first fixing member 22a), the handle bar 21 and the second fixing member 23 are provided with screw holes penetrating in the vertical direction. Screw holes are also provided at positions corresponding to the screw holes. Then, the bolt 24 is screwed in this order into the screw hole of the second fixing member 23, the screw hole of the handle bar 21, the screw hole of the handle holder 22, and the female spiral of the column member 11, so that the handle bar 21 is The holder 22 is rigidly coupled.

  The handle holder 22 has a front wall portion 22b and a rear wall portion 22c. Two handle sensors 71 for detecting minute deformation of the handle bar 21 are provided on the inner wall surfaces of the wall portions 22b and 22c, respectively. Inside is fixedly attached by 25a-25d). Each handle sensor 71 surrounds the center portion of the handle bar 21 so that the minute deformation of the handle bar 21 corresponding to the traveling direction can be detected, and the minute deformation of the handle bar 21 can be detected with high accuracy. It is provided at a position away from the center of the handle bar 21. The distance between the center portion of the handle bar 21 and each handle sensor 71 is set to be substantially the same distance.

  In the present embodiment, the handle sensor 71 attached to the left portion of the front wall portion 22b is the handle sensor 71a, the handle sensor attached to the right portion is the handle sensor 71b, and the handle sensor 71 attached to the left portion of the rear wall portion 22c is the handle sensor. The handle sensor attached to the right portion 71c is referred to as a handle sensor 71d.

  The handle sensor 71 is formed in a rectangular parallelepiped shape so that the axial direction of the handle bar 21 and the longitudinal direction of the handle sensor 71 are parallel to each other. In the handle sensor 71, a female spiral is formed in a portion near the center of the handle bar 21, and a bolt 25 is inserted through the handle sensor 71 and attached to the front wall portion 22b and the rear wall portion 22c. A through hole is provided in a portion of the handle sensor 71 far from the center portion of the handle bar 21, and a contact portion 26 (26a to 26d in the drawing) is attached to the through hole. The contact portion 26 is fixed to the handle sensor 71 with an adhesive.

  In a state where the handle bar 21, the handle holder 22, and the handle sensor 71 are assembled, the handle bar 21 and the handle sensor 71 are not in contact with each other with a predetermined gap G1 (see FIG. 7). The handle bar 21 and the contact portion 26 abut. More specifically, the length of the contact portion 26 is set to be longer than the thickness of the handle sensor 71, and a part of the contact portion 26 protrudes from the through hole toward the handle bar 21 when attached to the handle sensor 71. . The length of the protruding portion is set to be substantially the same as the predetermined interval G1 described above. The protruding end of the protruding portion is a flat surface, and the flat surface and the outer peripheral surface of the handle bar 21 come into contact with each other with the above configuration.

  The protruding end of the protruding portion of the contact portion 26 is a flat surface, and the outer peripheral surface (curved surface) of the handle bar 21 is in line contact with the contact portion 26 in the flat surface, which causes an attachment error between the contact portion 26 and the handle bar 21. This prevents one member from riding on the other member.

  As described above, when the user operates the handle bar 21, a minute deformation occurs in the handle bar 21, and the contact portion 26 is pushed by the minute deformation, and the handle sensor 71 is distorted. The handle sensor 71 detects the distortion. For example, when the handle bar 21 is slightly deformed in the forward direction, the handle sensors 71a and 71b detect the minute deformation via the contact portions 26a and 26b, and when the handle bar 21 is slightly deformed in the backward direction, the contact is made. The handle sensors 71c and 71d detect minute deformation via the parts 26c and 26d. Hereinafter, the operation state of the handle bar 21, the detection state of the handle sensor 71, and the motor drive state based on this will be described.

  FIG. 10 is a correlation diagram of the operation state of the handlebar, the sensor detection state, and the motor drive state, and in order from the upper side of the page, (A) when stationary, (B) forward, (C) backward, A state of D) turning right and (E) turning left is shown.

  When the walking assistance vehicle 1 is stationary (A), the handle sensors 71a to 71d do not detect force based on minute deformation of the handle bar 21 (the handle sensors 71a to 71d are in the non-detection state “x”). At this time, the control unit 80 sets various parameters of the wheel drive mechanism units 91L and 91R so that the walking auxiliary vehicle 1 decelerates or stops. The contact portion 26 is in contact with the handlebar 21 even when the walking auxiliary vehicle 1 is stationary (A), and may be in contact with the handlebar 21 with a slight pressure. Therefore, a threshold value is set for the force detected by the handle sensor 71, and a force lower than the threshold value (that is, a force based on the contact between the contact portion 26 and the handle bar 21 at rest (A)) is set so as not to be detected. .

  When the walking auxiliary vehicle 1 moves forward (B), the handle bar 21 is pushed in the forward direction by the user, so that the handle bar 21 is slightly deformed, the contact portions 26a and 26b are pushed, and the handle sensor 71a and 71b detects the distortion of the handle sensors 71a and 71b, respectively (the handle sensors 71a and 71b are in the detection state “◯” and the handle sensors 71c and 71d are in the non-detection state “x”). At this time, the control unit 80 sets various parameters of the wheel drive mechanism units 91L and 91R so as to apply the same forward torque as the driving forces DL and DR of the left rear wheel 321L and the right rear wheel 321R. Such an electric assist enables the user to advance the walking auxiliary vehicle 1 lightly and safely.

  When the walking assist vehicle 1 moves backward (C), the handlebar 21 is pulled backward by the user, whereby the handlebar 21 is slightly deformed, and the contact portions 26c and 26d are pushed, and the handle sensor 71c and 71d detects the distortion of the handle sensors 71c and 71d, respectively (the handle sensors 71c and 71d are in the detection state “◯”, and the handle sensors 71a and 71b are in the non-detection state “x”). At this time, the control unit 80 sets various parameters of the wheel drive mechanism units 91L and 91R so as to apply the same reverse torque as the driving forces DL and DR of the left rear wheel 321L and the right rear wheel 321R. Such an electric assist enables the user to retreat the walking auxiliary vehicle 1 lightly and safely.

  When the walking assist vehicle 1 turns right (D), the handle bar 21 is twisted in the right turning direction by the user, the handle bar 21 is slightly deformed, and the contact portions 26a and 26d are pushed, The handle sensors 71a and 71d detect the distortion of the handle sensors 71a and 71d, respectively (the handle sensors 71a and 71d are in the detection state “◯” and the handle sensors 71b and 71c are in the non-detection state “×”). At this time, the control unit 80 sets various parameters of the wheel drive mechanism units 91L and 91R so as to apply different forward torques (DL> DR) as the driving forces DL and DR of the left rear wheel 321L and the right rear wheel 321R. Set. Such an electric assist enables the user to turn the walking assist vehicle 1 to the right lightly and safely.

  When the walking auxiliary vehicle 1 turns left (E), the handle bar 21 is twisted in the left turning direction by the user, so that the handle bar 21 is slightly deformed, and the contact portions 26b and 26c are pushed, thereby the handle sensor. 71b and 71c detect distortion of the handle sensors 71b and 71c, respectively (the handle sensors 71b and 71c are in the detection state “◯”, and the handle sensors 71a and 71d are in the non-detection state “x”). At this time, the control unit 80 sets various parameters of the wheel drive mechanism units 91L and 91R so as to apply different forward torques (DL <DR) as the driving forces DL and DR of the left rear wheel 321L and the right rear wheel 321R. Set. Such an electric assist enables the user to turn the walking auxiliary vehicle 1 left lightly and safely.

  Note that a pressure distribution sensor that detects a two-dimensional pressure distribution may be used as the handle sensor 71, and the displacement state of the handle bar 21 may be detected from the pressure distribution in the longitudinal direction of the handle bar 21.

  In addition, the configuration using four sensors (handle sensors 71a to 71d) as the handle sensor 71 is exemplified, but if priority is given to the reduction of the number of sensors, either the handle sensor 71c or the handle sensor 71d (or It is also possible to omit the handle sensor 71a or the handle sensor 71b) and reduce the number of sensors to three. Further, when the stationary state of the walking assist vehicle 1 can be determined using a separate grip sensor or the like, the number of sensors of the handle sensor 71 is two (the handle sensor 71a and the handle sensor 71b, or the handle sensor 71c and the handle sensor 71). It is also possible to reduce the number of sensors to 71d, handle sensor 71a and handle sensor 71d, or handle sensor 71b and handle sensor 71c).

  As described above, in the detection state “◯” and the non-detection state “×”, the increase in the detection amount of the handle sensor 71 may be “◯” and the decrease in the detection amount may be “X”.

  Next, the usage state of the backward tilt base point portion 33, the detection state of the backward tilt base point sensor 72, and the motor drive state based on this will be described. FIG. 11 is a correlation diagram of the use state of the back tilt base point, the detection state of the sensor, and the motor drive state, and in order from the top of the page, (A) when not in use, (B) right back tilt base point used. (C) A state of using the left rear tilt base point is shown.

  When (A) the back tilt base point portion 33 is not used, the back tilt base point sensors 72a and 72b do not detect the reverse blocking body (the back tilt base point sensors 72a and 72b are in the non-detection state “x”). Since it is not necessary to perform human power assistance for moving the vehicle body portion 10 to the rearward tilting posture, the control based on the rearward tilt base point sensor 72 is not performed, and the wheel drive mechanism portion 91L is based on the operation state of the handlebar shown in FIG. And various parameters of 91R are set.

  When the right rearward tilt base portion 33R is used (B), the rearward tilt base point sensor 72b detects the reverse blocking body (the rearward tilt base point sensor 72b is in the detection state “◯” and the rearward tilt base point sensor 72a is not detected). At this time, the controller 80 is configured to apply the same forward torque as the driving forces DL and DR of the left rear wheel 321L and the right rear wheel 321R. Set various parameters. With such electric assist, after the user moves the vehicle body portion 10 to the backward tilted posture, the walking assist vehicle 1 can move forward and can easily and safely climb over the steps.

  When the left rear tilt base point portion 33L is used (C), the rear tilt base point sensor 72a detects the reverse blocking body (the rear tilt base point sensor 72a is in the detection state “◯” and the rear tilt base point sensor 72b is not detected). At this time, the controller 80 is configured to apply the same forward torque as the driving forces DL and DR of the left rear wheel 321L and the right rear wheel 321R. Set various parameters. With such electric assist, after the user moves the vehicle body portion 10 to the backward tilted posture, the walking assist vehicle 1 can move forward and can easily and safely climb over the steps.

  Since it is considered that one of the left rearward tilt base point portion 33L and the right rearward tilt base point portion 33R is used when the vehicle body portion 10 is moved to the rearward tilt posture, the rear tilt base point sensors 72a and 72b in FIG. Although not shown for the case where a reverse blocking body is detected in both cases, the control unit 80 may set various parameters of the wheel drive mechanism units 91L and 91R also in that case. As control in that case, the driving force DL of the left rear wheel 321L and the right rear wheel 321R and the driving force DL of the left rear wheel 321L and the right rear wheel 321R are the same as when using the right rear tilt base portion 33R (B) and when using the left rear tilt base portion 33L. Various parameters of the wheel drive mechanisms 91L and 91R may be set so that the same forward torque is applied as DR.

  Alternatively, since it is unlikely that both the left rear tilt base point portion 33L and the right rear tilt base point portion 33R are used when the vehicle body portion 10 is moved to the rear tilt posture, the control unit 80 is configured so that the walking auxiliary vehicle 1 Various parameters of the wheel drive mechanisms 91L and 91R may be set so as to decelerate or stop.

  In addition, as the overpass support, the control unit 80 sets various parameters of the wheel drive mechanism units 91L and 91R so as to apply the same forward torque as the driving forces DL and DR of the left rear wheel 321L and the right rear wheel 321R. However, it is not limited to this. For example, the control unit 80 sets various parameters of the wheel drive mechanism units 91L and 91R so that the walking auxiliary vehicle 1 decelerates or stops, thereby preventing the walking auxiliary vehicle 1 from moving forward in the backward leaning state. It is good as well.

  According to the present embodiment, the handlebar and the handle holder are rigidly coupled, so that only a slight deformation occurs in the handlebar. On the other hand, a handle sensor that is not in contact with the handle bar is attached to the handle holder, and a contact portion that contacts the handle bar is attached to the handle sensor. When the handlebar is slightly deformed in this configuration, the contact portion is pushed, and the handle sensor is distorted, thereby detecting the minute deformation of the handlebar. The user's intention is grasped based on the detection result of the handle sensor, and appropriate human power assistance is realized.

  In addition, the outer peripheral surface of the handle bar has a convex curved surface portion, and the protruding end of the protruding portion that protrudes from the detecting portion toward the handle bar at the contact portion is a flat surface. Abut by line contact. Accordingly, it is possible to prevent the handlebar from being deformed minutely regardless of the user's intention as one member rides on the other member.

  In the present embodiment, the contact portion and the handle bar are in line contact. However, for example, the contact portion and the handle bar may be brought into point contact by converging the protruding end of the contact portion at one point.

Second Embodiment
In the first embodiment, the contact portion 26 is fixedly attached to the handle sensor 71 with an adhesive, but is not limited thereto. That is, when an error occurs in the positional relationship between the handle bar 21 and the handle sensor 71 in accordance with the mechanical accuracy and assembly accuracy of the parts, the handle sensor 71 is appropriately adjusted so that the contact portion 26 abuts the handle bar 21. The position of the contact portion 26 with respect to may be adjustable.

  FIG. 12 is a plan view showing the internal structure of the handle portion according to the present embodiment, and FIG. 13 is a right side view showing the internal structure of the handle portion according to the first modification.

  The difference from the operation force detection structure in the first embodiment is the attachment structure of the contact portion 26 and the handle sensor 71, and the other configurations are the same as those in the first embodiment.

  In the first embodiment, a through hole is provided in a portion of the handle sensor 71 far from the center portion of the handle bar 21, and the contact portion 26 is fixed to the through hole with an adhesive. On the other hand, in this embodiment, a female spiral is formed in a portion far from the center of the handle bar 21 of the handle sensor 71.

  The contact portion 26 is a screw member that is screwed into the female spiral of the handle sensor 71. The end of the contact portion 26 opposite to the end that contacts the handlebar 21 is formed thick (long in diameter) so that the user can easily grip it with a finger, and the outer peripheral surface is knurled. The contact part 26 can be easily turned by grasping with a finger.

  According to the present embodiment, the same effects as those of the first embodiment can be obtained. In addition, the position of the contact portion can be adjusted as appropriate in accordance with the positional relationship between the handle bar and the handle sensor.

<Third Embodiment>
FIG. 14 is a plan view showing the internal structure of the handle portion according to this embodiment, and FIG. 15 is a right side view showing the internal structure of the handle portion according to this embodiment. In this embodiment, in addition to the configuration of the second embodiment, a washer W is disposed as a locking member between the end of the contact portion 26 opposite to the end contacting the handlebar 21 and the handle sensor 71. .

  According to the present embodiment, the same effects as those of the second embodiment can be obtained. In addition, it is possible to prevent the contact portion between the handle bar and the contact portion from being loosened due to aged deterioration or vibration, and the contact accuracy between the handle bar and the contact portion from being changed.

<Other variations>
In the above embodiment, the walking assistance vehicle has been described as an example. However, the application target of the present invention is not limited to this, and other manual propulsion vehicles (strollers, carts, wheelchairs, etc.) It is also possible to apply widely.

  In the above embodiment, a straight type (T-shaped) handlebar is taken as an example, but any shape (U-shaped, drop-shaped, etc.) can be adopted as long as it is easy for the user to operate. It does not matter (see FIG. 16).

  As described above, various technical features disclosed in the present specification can be variously modified within the scope of the technical creation in addition to the above-described embodiment. That is, the above-described embodiment is to be considered in all respects as illustrative and not restrictive, and the technical scope of the present invention is indicated not by the description of the above-described embodiment but by the scope of the claims. It should be understood that all modifications that fall within the meaning and range equivalent to the terms of the claims are included.

1 walking assistance vehicle (manual propulsion vehicle)
DESCRIPTION OF SYMBOLS 10 Car body part 11 Support | pillar member 20 Handle part 21 Handle bar 30 Wheel part 31 (31L, 31R) Front caster (left, right)
32 (32L, 32R) Rear wheel (left, right)
DESCRIPTION OF SYMBOLS 33 Back tilt base part 40 Luggage room part 50 Backrest part 60 User interface part 70 Sensor part 71 Handle sensor 72 Back tilt base point sensor 80 Control part 81 Processing part 82 Wheel drive control part 90 Electric drive part 100 Power supply part

Claims (5)

A handle,
A holding portion rigidly coupled to the handle portion;
A detection unit attached to the holding unit to detect minute deformation of the handle unit;
A contact part attached to the detection part so as to abut against the handle part;
With
The detection unit is a manually propelled vehicle that detects minute deformation of the gripping unit via the contact unit.   The manually propelled vehicle according to claim 1, wherein the contact portion and the handle portion come into contact with each other by line contact or point contact.   The outer peripheral surface of the handle portion has a convex curved surface portion, the contact portion is in contact with the curved surface portion, and the contact portion of the contact portion with the curved surface portion is a flat surface. The manually propelled vehicle according to claim 2.   The manually propelled vehicle according to any one of claims 1 to 3, further comprising a position adjustment unit capable of adjusting an attachment position of the contact unit with respect to the detection unit.   The manual propulsion vehicle according to any one of claims 1 to 4, wherein a loosening prevention member is disposed between the contact portion and the detection portion.

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