JP2018190303A - Operation grip and movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation grip that can be operated with one hand in order to steer in both advancing and retracting directions, and to provide a movable body using the operation grip.SOLUTION: An operation grip A comprises: a shaft part 1 having a predetermined axis B; a grip part 2 attached to the shaft part with play; a pressure sensor 3 disposed between the shaft part and the grip part; an application part 4 that comes into contact with a sensing part of the pressure sensor, thereby causing an operation force to act thereon; and pressing means 5 and 6 that press the pressure sensor and the application part so as to separate them mutually. The play between the shaft part and the grip part permits advancement and retraction of the grip part in a direction orthogonal to the axis of the shaft part and rotation of the grip part around the axis. The pressure sensor and the application part are separately provided on a flat part of the shaft part and a counter face part of the grip part and on both sides around the axis of the shaft part. A movable body comprises: a pair of drive wheels attached to the right and left sides; a pair of actuators that apply drive force to the respective drive wheels; and one operation part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an operation grip for operating a moving body and a moving body using the operation grip.

  Conventional operation grips, for example, are used for self-propelled electric vacuum cleaners, and include ones equipped with pressure sensors distributed in four directions on a gripping part gripped when an operator operates (patent) Reference 1). This technology detects the grip force of the operator at four points, front and rear, left and right, and controls the driving force for power assist with respect to movement in the left and right direction (steering) in addition to movement in the front and rear direction. .

  In addition, as a power assist device used for a walk assist vehicle, four handle sensors installed on the surface of the handle shaft are inserted in a handle holder of the walk assist vehicle in a state in which the handle shaft can be displaced (change in angle). There is a sensor (a kind of pressure sensor) that detects a relative displacement with respect to the handle holder and can operate forward, backward, left steering, and right steering (see Patent Document 2).

JP-A-5-228088 JP 2015-47938 A

  The technology disclosed in the above-mentioned Patent Document 1 is to operate a moving body by using a pressure sensor concentrated in one place, and the pressure sensor in the operation unit has a sensing unit arranged inside a gripping part. Therefore, the operator has to apply a grip force directly to the sensing unit, and thus the gripping state is fixed. Further, when changing the moving direction, since the control system calculates the traveling direction according to the distribution of the grip force acting on the four pressure sensors, the change in the grip force due to the operation of the operator is reflected in the distribution. In other words, there is a concern that the operation for steering differs depending on the individual operator.

  Further, the technology disclosed in Patent Document 2 described above includes four handle sensors (pressure sensors) for a single handle shaft, and controls the direction of the walking assist vehicle according to the displacement state of the handle shaft. It was something to do. However, since the user operates the walking assistance vehicle while being supported by the handle shaft, there is a concern about whether the handle shaft is frequently displaced and the stability of traveling is ensured. Further, the walking assist vehicle is provided with a brake operation unit, and the deceleration of the walking assist vehicle is performed by a brake operation. As a result, a neutral state with respect to the displacement of the handle shaft (none of the four sensors act). State) does not exist, and the operation interruption (cancellation of use of the walking auxiliary vehicle) must be determined exclusively by detection of other pressure sensors provided at the grips at both ends of the handle.

  By the way, the structure of the operation grip used above is not shown in detail, and the state of presentation of the operation force to the pressure sensor is unclear. In other words, in Patent Document 1, when an operator grips, the grip force is presented as a grip force, and the operation force eventually depends on how the operator grips. Further, in Patent Document 2, it is possible to obtain a driving force for forward and backward movement and turning depending on the state of displacement of the handle shaft. However, the deceleration is detected by detecting a brake operation or by the user from the gripping portion. The state where the hand is released is detected by the sensor of the gripping part, and the detection by the four handle sensors (a kind of pressure sensor) is used only to detect the distinction of the moving direction between the forward and backward movement and the turning. It was supposed to be.

  In general, for the purpose of providing a power assist function for a moving body, in addition to the purpose of assisting with a driving force when the weight of the moving body is very large, the weight of the entire moving body changes depending on the weight of the loaded luggage. Even in the case, there is an object of stabilizing the operation force by changing the assist force according to the change in the weight. Even in the case of such a purpose, the operation force is detected and measured, and an assist force corresponding to the operation force is applied. However, since the detected / measured value frequently changes depending on the direction of the operating force acting on the operation unit, it is necessary to comprehensively determine various conditions to apply the assist force. The mechanism for that is complicated, and the structure of the operation part is also complicated.

  Therefore, the applicant of the present application has developed an operation grip that can detect and measure the operation force with a relatively simple structure, and has filed a patent application for Japanese Patent Application No. 2015-229909. According to the present invention, since the detection of the operation force by the operation grip is limited to the advancing / retreating direction, for example, in the case of two-wheel drive in a four-wheel moving body, the operation grip operates both the driving wheels. As a thing, the actuator for that was operated separately. For this reason, the direction of travel can be changed by adjusting the operating force of the individual operation grips so that the left and right traveling speeds are different. Then, in the case of turning (direction change in the state of staying), it is only necessary to operate so that one drive wheel moves forward and the other drive wheel moves backward. In addition, since the power assist function is used to operate a heavy moving body, it can be operated in the same way as when operating two places with both hands, such as operating a moving body without the power assist function. By operating the grip, it can be operated to assist the driving force in accordance with the operating force. However, the operation grip having the above configuration needs to be operated with both hands because it is necessary to individually apply the operation force to the two drive wheels, and operation with one hand has not been considered.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide an operation grip that can be operated with one hand in both the forward and backward directions and the steering, and a moving body using the operation grip is provided. Is to provide.

  Therefore, the present invention related to an operation grip is an operation grip used for operation of a moving body, and includes a shaft portion having a predetermined axis, and a grip portion mounted with play on the shaft portion. A pressure sensor disposed between the shaft portion and the gripping portion, an action portion that abuts against a sensing portion of the pressure sensor to apply an operating force, and a play between the shaft portion and the gripping portion. Then, in an operation grip comprising an urging means for urging the pressure sensor and the action portion in a direction away from each other, play between the shaft portion and the grip portion is caused by the grip portion being the shaft. It is possible to advance and retract in a direction orthogonal to the axis of the part, and to allow rotation in the circumferential direction around the axis, and the surface of the shaft is directed in the direction in which the grip part advances and retracts. A planar portion formed in a state where the grip portion is the shaft portion. The pressure sensor has a facing surface portion facing the flat surface portion, and the pressure sensor has at least one on each side of the shaft portion on the surface of either the flat surface portion of the shaft portion or the facing surface portion of the gripping portion. Each of the action portions is provided at a position facing each of the pressure sensors on the other surface.

  According to the above configuration, the play is formed in the shaft portion and the gripping portion, and the pressure sensor and the action portion are biased in the direction away from each other. In the state of operation, the pressure sensor does not detect the pressure, but the pressure sensor detects the predetermined pressure and operates the driving force by moving the gripping part against the bias (during operation). be able to. The operating force applied to the gripping part during operation is the movement of the gripping part in the advancing / retreating direction (direction perpendicular to the axis of the shaft part) and the rotation direction of the gripping part (circumferential direction around the axis of the shaft part). There are two types of displacement, both of which can apply an operating force by changing the posture against the biasing means. The detection of the operating force (pressing force) by the pressure sensor is based on the fact that the operating part comes into contact with the sensing part of the pressure sensor and the pressure pressed by the action part is detected and measured. This can be reflected in the magnitude of the driving force.

  That is, during operation, the operating force applied to the gripping part is concentrated on the action part, so that other parts of the gripping part do not contact the shaft part, and all of the operating force can be applied to the pressure sensor. it can. Further, when the application of the operating force is released, the action portion is separated from the pressure sensor by the urging means, and the operation of the driving force can be stopped. A plurality of pressure sensors and action portions are provided between the flat portion of the shaft portion and the opposed surface portion of the grip portion, and when these simultaneously detect an operation force, the pressure sensor and the action portion are used as an operation force for moving straight forward (back and forth). In the case where the operation force is detected only in some pressure sensors, it can be detected as an operation force for steering (or turning) movement. Further, the operation grip can be used not only for operating an actuator in a moving body equipped with a power assist device but also for maneuvering (controller) of a traveling body capable of self-running. In any case, an operation for advancing / retreating and steering (or turning) is made possible by one operation grip.

  In the invention according to the operation grip having the above-described configuration, the shaft portion has a main body portion having a substantially rectangular cross-sectional shape, two sets of outer wall surfaces facing each other are formed on the main body portion, and one set of outer wall surfaces is formed on the plane portion. And the other set of outer wall surfaces formed on the shaft portion includes a regulating surface on which a rotating shaft core constituent portion having an arc-shaped cross section centered on the axis of the shaft portion is projected. The gripping portion has a hollow region having a substantially rectangular cross-sectional shape, and two sets of inner wall surfaces facing each other are formed in the hollow region, and a pair of inner wall surfaces are opposed to the planar portion. The opposing surface portion may be the other set of inner wall surfaces of the gripping portion, which may be slidable contact surfaces that are slidably contacted with the rotating shaft core constituting portion.

  In the case of the above configuration, there is play to the extent that the gripping part can move between the shaft part and the gripping part, and both of them have a substantially rectangular cross-sectional shape. It is in the state where the shaft part was inserted in. The restricting surface of the shaft portion is provided with a rotating shaft core component portion, and the rotating shaft core component portion is in sliding contact with the sliding contact surface of the grip portion. Rotation about the shaft core component is possible. Further, the sliding contact surfaces (one set) arranged on both sides of the opposing surface portion of the gripping portion are both restricted in the linear movement direction by the rotating shaft core constituting portion (one set) of the shaft portion. By sliding the slidable contact surface and the rotating shaft core component in the direction, the movement of the gripping portion in the advancing / retreating direction is allowed. When the gripping part moves in the forward / backward direction, the action part simultaneously contacts a plurality of pressure sensors arranged on both sides of the axis of the shaft part. The operating part comes into contact with only one of the pressure sensors. As a result, it is possible to detect different movement states of the gripping portion and operate the actuator accordingly.

  Further, in the invention according to the operation grip having the above-described configuration, the pressure sensor is installed in at least one place on each of the pair of plane portions of the shaft portion at positions symmetrical with respect to the axis of the shaft portion. And the action portion is protruded from the two facing surface portions so as to face each of the pressure sensors, and when the gripping portion rotates about the rotation axis component portion, In each of the opposed surface portions, the action portion can be configured to abut only on one of the symmetrical positions with the axis of the shaft portion as the center.

  In the case of the above configuration, the pair of flat surface portions of the shaft portion and the pair of opposed surface portions of the gripping portion together form two pairs of opposing surfaces that face each other through a gap formed by play. If one of the gaps is reduced (the gripping portion is moved in the direction), the other gap is enlarged. Therefore, by moving the gripping part to one of the surfaces, the surface is brought close to only the side where the gap between the opposing surfaces is reduced, and the pressure sensor and the action part facing each other are brought into contact with each other. Can do. Moreover, when moving a holding | gripping part to a reverse direction, it can be made small only with the other gap | interval, the surface which opposes in the said other can be approached, and a pressure sensor and an action part can be contacted. In this case, the pressure sensor and the action part are used for detecting the forward direction because one of the two opposing surfaces abuts and the other does not abut. Then, the other contact is for detecting the backward direction.

  In addition, the gripping portion can be rotated within a range of play formed between the grip portion and the state where the sliding contact surface of the grip portion is in sliding contact with the rotation shaft core constituting portion of the shaft portion is maintained. On the other hand, by rotating about the rotating shaft core constituting portion as an axis, the opposing surfaces between the shaft portion and the gripping portion are inclined with respect to each other. As a result, in a relative relationship between a pair of opposing surfaces, a portion where the gap is reduced and a portion where the gap is enlarged are generated. And since the pressure sensor is arrange | positioned on both sides centering on the axis line of a shaft part, it will be in the state which receives the contact | abutting of an action part in one of them, and is separated in the other. As a result, it is possible to detect that there is a pressure sensor with which the action portion abuts and a pressure sensor that does not abut on a pair of opposing surfaces, and the gripping portion is rotating. In addition, by forming two sets of opposing surfaces symmetrically, the other set of opposing surfaces can be simultaneously brought into different working states for different pressure sensors. In this case, the pressure sensor can sense the abutment of the action portion at the same time by dividing into two sets of opposing surfaces.

  Furthermore, in each invention according to the operation grip having the above-described configuration, the tip of the action part is divided into a planar area and an inclined area, and the planar area serves as a sensing part of the pressure sensor when the gripping part moves in the forward / backward direction. The abutting and inclined region can be configured to abut the sensing part of the pressure sensor when the gripping part rotates.

  In the present invention, the pressure sensor and the action part are separately installed on the flat part of the shaft part and the opposing surface part of the grip part, and the pressure of the action part with respect to the pressure sensor is changed by changing the gap formed between them. Can be detected. However, the angle of the surface of the action part with respect to the sensing part (sensor surface) of the pressure sensor changes depending on whether the gripping part is moved linearly (moved in the forward / backward direction) or rotated (moved in the rotational direction). Thus, the surface of the action part may be in a point contact or a line contact with the pressure sensor. In such a case, the pressing force by the action part concentrates and the detected pressure increases, so that it may be impossible to accurately detect the operating force applied to the grip part. Therefore, according to the above configuration, when the gripping part is linearly moved (moved in the forward / backward direction), the acting part comes into contact with the pressure sensor, and when it is rotated (moved in the rotational direction), it comes into contact with the pressure sensor. The surface can be distinguished, and surface contact can be made according to two different types of movement states.

  In each of the inventions related to the operation grip having the above-described configuration, the pressure sensor may be provided on a flat portion of the shaft portion, and the action portion may be disposed to face each of the pressure sensors.

  In the case of the above configuration, the pressure sensor is provided in the shaft portion, and the pressure sensor and its signal line can be fixed inside the shaft portion regardless of the movement state of the gripping portion. Further, when the pressure sensor is provided in the shaft portion, the sensor main body is embedded in the shaft portion, and only the sensing portion (the portion receiving the pressure) can be installed in a state of being exposed on the surface of the flat portion. As a result, the position at which the action portion provided on the gripping portion receives contact is on the same plane as the flat portion, so there is no need to provide a large gap (play) with the gripping portion, and it is necessary for the movement of the gripping portion. It is only necessary to form a minimum amount of play.

  On the other hand, the present invention relating to the moving body is a moving body having the operation grip of each of the above-described configurations, and is configured to drive at least a pair of driving wheels mounted on the left and right sides and the driving wheels independently. At least a pair of actuators for applying a driving force to each wheel and at least one operation unit, and a single operation grip for the pair of actuators is provided in the operation unit. In addition, a control unit for controlling the operation of the actuator from a signal detected by the pressure sensor is mounted, and the control unit moves the grip unit from the pressure detection state by the plurality of pressure sensors of the operation grip. And the output of the actuator is calculated.

  According to the above configuration, by the operation of the operation grip, the pressure detection values by the plurality of pressure sensors according to the movement state of the gripping part are input to the control unit, and based on the presence or absence of each detection value of the plurality of pressure sensors, It is possible to determine whether the movement of the gripping part is an advancing / retreating direction or a rotating direction, and based on the detected value, the output of the actuator can be controlled to adjust the driving state for the moving body. . Then, if a pair of driving wheels mounted on the left and right are simultaneously rotated in the same direction, it is possible to move forward or backward, and if only one of them is driven, the traveling direction changes or the left and right are relatively reversed. It can be swung by being driven to rotate in the direction. Further, since the output of the actuator is changed based on the magnitude of the detection value of the pressure sensor, the driving force for the wheel can function as power assist. Accordingly, since the operating state of the driving force is changed according to the user's operation force with respect to the grip portion, when the moving body is moved by the grip portion (operation grip), it acts on the grip portion (operation grip). The driving force for a desired moving state can be assisted from the external force. In addition, the moving body provided with at least a pair of driving wheels is not only a two-wheeled moving body, but also two-wheeled (or more than four-wheeled) driving wheels, and all four-wheeled driving wheels. There is.

  In the above configuration, the state of the pressure detected by the pressure sensor of the operation grip includes the presence / absence of pressure received by all of the plurality of sensors on the same surface due to the movement of the gripping portion in the forward / backward direction, and the rotation of the gripping portion. The presence or absence of pressure received by some of the plurality of sensors on the same plane due to movement, and the magnitude of these pressures, and driving between the left and right drive wheels by detecting the pressure due to the rotation of the gripping part The actuator is controlled so as to change the state. Steering and turning in this case are enabled by the relative difference between the left and right drive wheels.

  In addition to providing a relatively different driving state between the left and right drive wheels, a steering actuator for steering the wheel is additionally provided. You may comprise so that a steering actuator may be controlled.

  In the case of the above configuration, the moving body can be steered without any difference in driving force between the left and right wheels. The steering actuator is not limited to the case where a steering shaft is provided on the wheel and the driving force is directly applied around the steering shaft, but also when the driving force for movement is converted into steering. possible.

  Further, in the invention according to the moving body having each configuration described above, the actuator is an electric motor that exhibits a power assist function and has a motor driver, and the control unit is configured to assist force based on a detection value by a pressure sensor. And calculating means for calculating the voltage value of the electric motor necessary for the assist force, and the motor driver controls the output of the electric motor based on the voltage command calculated by the calculating means; can do.

  According to the above configuration, the driving force of the electric motors installed on the left and right are individually controlled on the left and right sides, thereby enabling forward or backward movement and steering. In this case, the information of the pressure sensor detected by the operation grip installed in the operation unit operates the left and right actuators according to the state of the gripping unit detected by the pressure sensor, so that the single operation grip advances and retreats. Each operation of movement and steering (or turning) can be made possible.

  According to the present invention relating to the operation grip, as a basic configuration, since the pressure sensor and the action portion are biased in the direction away from each other by the biasing means, no external force is applied to the grip portion. The pressure sensor does not detect the pressure by the action part. This state can be a state (neutral state) in which the operating force is not applied and the driving force for moving the moving body is stopped. In addition, by disposing the pressure sensor and the action part separately between the shaft part and the grip part, the pressure part can be detected by moving the grip part against the biasing force. It is. In addition, since the shaft portion and the gripping portion are provided with play that can advance and retreat and rotate, the shaft portion is fixed to, for example, an operation portion of a moving body, so that the advancing and retreating direction and rotation by the gripping portion is achieved. Movement in the direction is allowed. Since at least one pressure sensor and one action part are installed on both sides of the axis of the shaft part as a center, only when the gripping part moves forward and backward depending on the pressure detection status by the plurality of pressure sensors. Thus, it is possible to determine the state of rotation, and it is possible to obtain operation information on the advance and retreat of the moving body and steering by a single operation grip. Thereby, even if it is a case where a user operates with one hand, it can operate both the advancing / retreating direction and steering with respect to a moving body.

  Further, by operating the grip portion, the operating force is concentrated on the action portion, and therefore the operation force can be detected and measured by detecting the pressing force by the action portion. Therefore, a moving body having a power assist function can operate as a switch when the assist force is applied by operating the grip portion, and the degree of driving to be assisted by measuring the operation force can be achieved. It becomes possible to adjust.

  On the other hand, according to the present invention relating to the moving body, the actuator is operated so that the moving body can be advanced and retracted and steered by detecting the advancing / retreating and rotating states of the gripping portion of the single operation grip. be able to. In addition, in a mobile body having a power assist function, an appropriate assisting force can be applied in the traveling direction of the mobile body. It is possible to steer with the operation grip.

It is a disassembled perspective view which shows embodiment of this invention which concerns on an operation grip. It is a perspective view which shows the whole embodiment of an operation grip, and the state of installation. (A) is a top view of an operation grip, (b) is sectional drawing in the IIIB-IIIB line. (A) is sectional drawing in the IVA-IVA line | wire of FIG. 3, (b) is sectional drawing in the IVB-IVB line | wire of FIG. (A) is sectional drawing in the VA-VA line of FIG. 4, (b) is sectional drawing in the VB-VB line of FIG. It is explanatory drawing which shows the operation state of embodiment which concerns on an operation grip. (A) And (b) is explanatory drawing which shows the detail of an action part, (c) And (d) is explanatory drawing which shows the relationship with a pressure sensor. It is explanatory drawing which shows the relationship between a rotating shaft core structure part and a sliding contact surface. It is explanatory drawing which shows embodiment of this invention which concerns on a mobile body. It is explanatory drawing which shows the state of control in embodiment which concerns on a mobile body. It is explanatory drawing which shows the modification of embodiment which concerns on a mobile body. It is explanatory drawing which shows the modification of embodiment which concerns on a mobile body.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating an embodiment according to an operation grip. As shown in this figure, the outline of the operation grip A of the present embodiment is provided so as to surround the shaft portion 1 having an axis B in a predetermined direction and having play with respect to the shaft portion 1. It is comprised with the holding part 2. FIG. The grip portion 2 of the present embodiment is configured by substantially symmetrical grip portion constituting members 2a and 2b divided into two from the center along the direction of the axis B, and the shaft portion 1 is formed by these grip portion constituting members 2a and 2b. Are integrated in a state of being sandwiched from both sides, thereby configuring the operation grip A in a state in which the shaft portion 1 is incorporated.

  As shown in the figure, the shaft portion 1 includes a main body portion 11 formed of a long rod-shaped member having a substantially rectangular cross-sectional shape, and a connecting portion 12 formed in a cylindrical shape having the same axis B at both ends thereof. 13. The connecting parts 12 and 13 are used when the operation grip A is mounted on a moving body or the like, and the columnar shape is that the handle provided on the moving body or the like is generally cylindrical. Therefore, it is possible to insert into this cylinder. Therefore, the shapes of the connecting portions 12 and 13 can be appropriately changed according to the object to be mounted. Moreover, the connection parts 12 and 13 are integrally provided along the same axis B as the main-body part 11, and it has the structure by which the coaxial core material 14 is inserted in the center of both. The length of the core member 14 is approximately the same as the lengths of both ends of the connecting portions 12 and 13, and is arranged in the center over the entire shaft portion 1. The core member 14 is for giving rigidity to the shaft portion 1. In particular, the connecting portions 12 and 13 are fixed to a grip portion such as a moving body, while the main body portion 11 is operated by the grip portion 2. Therefore, it is designed to withstand bending stress applied between the two. This is for maintaining the strength that can resist deformation when the shaft portion 1 is made of a resin material such as plastic, and when the shaft portion 1 has its own high strength, A configuration in which 14 is not provided is also possible.

  By the way, since the cross-sectional shape of the main body part 11 of the shaft part 1 is substantially rectangular (the figure is substantially square), its outer wall surfaces 15, 16, 17, and 18 are opposed to each other (divided into both sides). Are formed in parallel with each other. Among these outer wall surfaces 15 to 18, one set of outer wall surfaces 15 and 16 and another set of outer wall surfaces 17 and 18 have different functions. That is, one set of the outer wall surfaces 15 and 16 is a plane portion installed toward the grip portion 2 (particularly the grip portion constituent members 2a and 2b), and the grip portion 2 (particularly the grip portion constituent members 2a and 2b). ) Is a wall surface forming a gap. The other set of outer wall surfaces 17 and 18 are restricting surfaces provided to restrict the movement of the grip portion 2, and the rotating shaft core constituting portions 10 a and 10 b having a circular arc cross section project on the surface. Provided, and the end edges of the pivot axis constituting parts 10a, 10b are slidably contacted with the inner wall surface of the gripping part 2 (particularly the gripping part constituting members 2a, 2b) to limit the movable range of the gripping part 2 It is.

  On the other hand, in order to form play between the grip portion 2 and the main body portion 11 of the shaft portion 1, a hollow region having a substantially rectangular cross section is formed in a state where the grip portion constituting members 2a and 2b are integrated. In this hollow region, two sets of inner walls facing each other can be formed. That is, the gripping part constituting members 2a and 2b divided into two are formed with concave regions 21a and 21b having a substantially U-shaped cross section, and the concave regions 21a and 21b have wall surfaces 22a and 22b located in the center, It has wall surfaces 23a, 23b, 24a, 24b formed to face both sides. The opposing wall surfaces 23a, 23b, 24a, and 24b are formed by integrating the gripping member constituting members 2a and 2b so that the mutually symmetrical wall surfaces become two wall surfaces that are opposed to each other. From this, a set of inner wall surfaces is formed. Further, the wall surfaces 24a and 24b at the intermediate positions are in a state of facing each other when the gripping member constituting members 2a and 2b are integrated, and constitute a set of inner wall surfaces.

  Further, when the gripping member constituting members 2a and 2b are integrated, the wall surfaces 22a and 22b at the intermediate positions are opposed to the flat surface portions 15 and 16 of the shaft portion 1 (function as opposing surface portions). Wall surfaces 23a, 23b, 24a, 24b are in a state of receiving sliding contact (functioning as a sliding contact surface) of the rotating shaft core components 10a, 10b provided on the restriction surfaces 17, 18 of the shaft portion 1. is there.

  The integrated slidable contact surfaces 23a, 23b, 24a, and 24b receive the slidable contact of the rotating shaft core constituting portions 10a and 10b, but are between the main body portions (outer wall surfaces) of the restricting surfaces 17 and 18. Has a gap and maintains the sliding contact state with the arcuate edges of the rotation shaft core components 10a and 10b, thereby rotating the grip 2 in a state where the shaft 1 is fixed. It is configured to be able to. Further, the facing surface portions 22a and 22b are formed with a gap while facing the flat portions 15 and 16 of the shaft portion 1, and can be moved in a direction in which the gap is enlarged or reduced. The movement at this time is a range in which the rotating shaft core components 10a and 10b can be kept in sliding contact with the sliding contact surfaces 23a, 23b, 24a and 24b, and the movement in the forward and backward direction is exclusively performed. It is acceptable.

  In addition, the pressure sensor 3 and the action part 4 are arranged to face each other between the flat surface parts 15 and 16 of the shaft part 1 and the facing surface parts 22a and 22b of the grip part 2 at a substantially center in the axial direction. A plurality of compression coil springs 5 and 6 are provided in the vicinity of both ends in the axial direction. In the present embodiment, the pressure sensor 3 is disposed on the flat portions 15 and 16 of the shaft portion 1, the action portion 4 is disposed on the opposing surface portions 22 a and 22 b of the grip portion 2, and the compression coil springs 5 and 6 15 and 16 and partly accommodated in accommodation holes 51, 52, 61 and 62 provided in both of the opposing surface portions 22a and 22b, and in a state where the positions are fixed, the two are biased in the direction of separating them. Is arranged.

  The pressure sensor 3 uses a film-like pressure sensor, and the sensing part is planar, and when the action part 4 presses against the plane, its presence and size can be detected. is there. This kind of pressure sensor 3 is divided into both sides around the axis B of the shaft portion 1 and provided one by one. This is for analyzing whether the pressure is simultaneously received or only one of them is receiving the pressure. In the drawing, the state of being installed on one flat surface portion 16 is shown, and the state of the other flat surface portion 15 is not shown on the paper surface. 15 is also installed symmetrically. The same applies to the action unit 4 that applies a pressing force to the sensor.

  The outer surfaces of the gripping member constituting members 2a and 2b have a substantially semicircular cross section, and the cross section becomes circular when they are integrated. When the gripping part constituting members 2a and 2b are integrated, the outer shape of the gripping part constituting members 2a and 2b is changed at appropriate positions so that the central portion of the gripping part 2 becomes a drum shape and both ends thereof are hooked. Yes. The drum-shaped portion is for gripping when the user uses it, and is a main body portion of the grip portion 2, and the bowl-shaped portion is composed of flange portions at both ends of the main body portion. In addition, by providing the through-hole 25 in the flange portion, a fastening tool 26 such as a bolt can be inserted, and fastening is possible across both the gripping portion constituting members 2a and 2b. Moreover, the joint surface of the position where the through-hole 25 is provided is provided with a male part 27 and a female part 28 which are fitted to each other.

  Since the configuration is as described above, in the state where the gripping portion constituting members 2a and 2b are integrated while disposing the shaft portion 2 in the center, as shown in FIG. 2, the flat portions 15 and 16 of the shaft portion 2, Appropriate gaps C1 and C2 are formed between the opposing surface portions 22a and 22b of the grip portion 2. At this time, the compression coil springs 5 and 6 are interposed between the both surfaces 15, 16, 22a, and 22b, and are biased in the direction of expanding the gaps C1 and C2. Therefore, the gaps C1 and C2 can be reduced by moving the grip 2 against the urging of the compression coil springs 5 and 6.

  Here, the operation grip A is attached to an operation unit such as a moving body using the connecting portions 12 and 13 formed at both ends of the shaft portion 2. As general operation parts, since they are cylindrical pipe-like members P1 and P2, both of them are press-fitted into the hollow interiors H1 and H2 of the pipe-like members P1 and P2 by pressing the connection parts 12 and 13 And the shaft portion 1 is integrated with the operation portion. At this time, the shaft part 1 does not rotate together by the movement (particularly, rotation) of the grip part 2 by the pressure bonding of both, and the direction of the shaft part 1 can be kept constant. In order to prevent the rotation of the shaft portion 1, a set screw as shown in the figure may be used.

  Further, when the connecting portions 12 and 13 are attached to the pipe-like members P1 and P2 of the operation portion, the end faces S1 and S2 of the pipe-like members P1 and P2 are connected to both end surfaces of the grip portion 2 (outside of the flange portion). The end surfaces are in sliding contact with S21 and S22 and restrict movement of the grip portion 2 in the axial direction. The sliding contact between the end surfaces S1 and S2 of the pipe-like members P1 and P2 and the both end faces S21 and S22 of the grip portion 2 restricts only the movement of the grip portion 2 in the axial direction. When the grip portion 2 is moved relative to the shaft portion 1 fixed to P1 and P2, the surface to be slidable is slidable.

  The relationship between the grip portion 2 formed by integrating the grip portion constituent members 2a and 2b and the shaft portion 1 will be described in more detail. Fig.3 (a) is a top view of the operation grip A, (b) has shown sectional drawing in the IIIB-IIIB line | wire. 4A is a cross-sectional view taken along line IVA-IVA in FIG. 3A, and FIG. 4B is a cross-sectional view taken along line IVB-IVB. 5A is a cross-sectional view taken along line VA-VA in FIG. 4A, and FIG. 5B is a cross-sectional view taken along line VB-VB in FIG. 4B.

  As shown in these drawings, the shaft portion 1 is loosely fitted inside the integrated grip portion 2 (inside the hollow region), and predetermined play is formed on all four sides thereof. ing. That is, the flat portions 15 and 16 of the shaft portion 1 form gaps C1 and C2 between the opposing surface portions 21a and 21b of the grip portion 2, and the regulation surfaces 17 and 18 of the shaft portion 1 are gripped. There is play between the slidable contact surfaces 23 and 24 of the portion 2, and only the tips of the rotating shaft core constituting portions 10 a and 10 b formed protruding from the restricting surfaces 17 and 18 are slidably contacted. (See FIG. 3A).

  Further, compression coil springs 5 and 6 are interposed between the plane portions 15 and 16 of the shaft portion 1 and the opposed surface portions 21a and 21b of the grip portion 2, and the gaps C1 and C2 between the two are separated from each other. The direction is biased (see FIGS. 3A and 3B). Therefore, if the urging forces of the compression coil springs 5 and 6 interposed in the gaps C1 and C2 on both sides of the shaft portion 1 are approximately the same, the gap C1 between the two in the state where no external force is applied to the grip portion 2. , C2 will be maintained at the same level. In the present embodiment, the same spring is used with the same length so that the gaps C1 and C2 of the both are the same.

  Furthermore, the action | operation part 4 which protrudes from the opposing surface parts 21a and 21b of the holding part 2 is provided using the gaps C1 and C2 formed as described above. The action portion 4 has an appropriate protruding length from the surfaces of the facing surface portions 21 a and 21 b, that is, in a state where no external force is applied to the grip portion 2, the distal end surface of the operation portion 4 is a flat surface of the shaft portion 1. It protrudes so as not to reach the parts 16 and 17 (see FIGS. 3A and 3B). When the gripping part 2 moves against the urging force of the compression coil springs 5 and 6 due to an external force acting on the gripping part 2, the distal end surface of the action part 4 becomes the flat part 15 of the shaft part 1, 16 will be approached and reached. At this time, the separating side moves in accordance with the urging of the compression coil springs 5 and 6, but is in a state in which an urging force is applied to maintain the gaps C1 and C2 at the time of restoration.

  In addition, one action part 4 is arranged at a position away from the center of the opposing surface parts 21a, 21b of the grip part 2 (on both sides of the axis of the shaft part 1), 16 (shaft part 1), the same number of pressure sensors 3 are arranged at positions facing the action part 4, and each action part 4 comes into contact with the pressure sensor 3 facing each other as the grip part 2 moves. The state is obtained (see FIG. 4A).

  The pressure sensor 3 is a film-like pressure sensor and has a thin wall thickness of about 0.1 mm. However, the main body portion is embedded in the shaft portion 1, and only the sensing portion (sensor surface) 31 is the shaft portion 1. In other words, the sensing part 31 is arranged so as not to protrude from the flat parts 15 and 16 of the shaft part 1 and not to be submerged. (See FIG. 4 (a) and FIG. 5 (a)). A signal detected by the pressure sensor 3 is sent to the outside of the operation grip A by a signal line 32, and this signal line 32 is embedded in the shaft portion 1, and is externally connected to the end portion of the shaft portion 1. Connection with is possible. For connection to the outside, the hollow interior of the pipe-like member P1 (or P2) used as the aforementioned operation unit is used. Thus, by providing the pressure sensor 3 on the shaft 1 side, the signal line can be fixed by the shaft 1 that is fixedly disposed and the pipe-like member P1 (or P2) that supports the shaft 1. it can. The film-like pressure sensor may be a film-like piezoresistive pressure sensor, or may be a capacitance-type pressure sensor, a strain gauge, a load cell, a pressure-sensitive conductive rubber, or the like. . The signal line 32 may be formed by laminating a metal thin film on the planes 11 and 12 of the shaft portion 1.

  On the other hand, the compression coil springs 5 and 6 are arranged separately on both sides of the center (axis) of the shaft portion 1 (see FIG. 4B) and are separated in the axial direction of the shaft portion 1 (near both ends of the shaft portion). (See FIG. 5B). By arranging the four portions at the four corners of the flat portions 15 and 16 and the opposing surfaces 21a and 21b facing each other, the biasing force can be exerted so that the gaps C1 and C2 are held as a whole. it can. In addition, two compression coil springs 4 are arranged at the four positions (see FIG. 5B), and the gaps C1 and C2 are easily restored by a sufficient repulsive force. Note that, by setting the gap between the pressure sensor 3 and the action portion 4 to a slight extent (for example, about 0.5 mm), it is possible not to feel a large looseness (backlash) when operated by the user. Further, by making the compression repulsive force of the compression coil springs 5 and 6 gentle, the repulsive force applied to the user can be suppressed, and the minimum size is sufficient to restore the gaps C1 and C2. Is.

  Next, the operation | movement aspect of this embodiment is demonstrated. 6A and 6B are plan views showing a state in which the grip portion 2 is moved. FIG. 6A shows movement in the forward and backward direction, and FIG. 6B shows movement in the rotation direction. is there.

  Since the operation grip A of the present embodiment is configured as described above, for example, by connecting the shaft portion 1 to the operation portion or the like of the moving body, the shaft portion 1 is fixed, and only the grip portion 2 is connected. Will be moved. At this time, the gripping portion 2 is allowed to move in a direction in which the gaps C1 and C2 formed between the gripping portion 2 and the shaft portion 1 are changed. The rotation direction around the rotation shaft core components 10a and 10b is allowed. Although movement in both the forward / backward direction and the rotational direction is possible in the range of play by both gaps C1 and C2, since the movement is restricted with the action portion 4 in contact with the sensor 3, the movement is substantially limited. Specifically, the movement in two directions cannot be performed simultaneously. This is because the degree of play between the shaft portion 1 and the grip portion 2 is adjusted to a very limited degree.

  Therefore, when the grip portion 2 is moved in the advancing / retreating direction, as shown in FIG. 6A, for example, both the gaps C1 and C2 are set in the front-rear direction, and directed toward one of them (in FIG. When moving upward, one gap C2 is reduced and the other gap C1 is enlarged. In the reduced gap C <b> 2, the action part 4 protruding from the facing surface 21 b of the grip part 2 comes into contact with the sensing part 31 of the pressure sensor 3 installed on the flat part 16 of the shaft part 2. The pressure sensor 3 receives the contact, firstly, the presence or absence of an applied pressure is detected, and secondly, the magnitude of the pressure received from the action unit 4 is detected. The magnitude of the pressure means the magnitude of the operating force of the grip portion 2, and is determined as an intention to move the moving body in the linear direction.

  At this time, as a matter of course, in the one gap C2, the two sensors 3 arranged on both sides of the axis line are in a state of being in contact with each other by the action portion 4 in the same manner. Further, since the other gap C <b> 1 is expanded, the action portion 4 does not contact the pressure sensor 3. As described above, in a state where the two pressure sensors 3 on the one flat surface portion 16 can simultaneously detect the pressure by the action portion 4, the movement of the grip portion 2 can be recognized as an operation force for advancing the moving body. And when moving the holding | gripping part 2 to a reverse direction, it becomes possible to make it recognize as an operating force of the reverse movement with respect to a moving body. Therefore, the movement of the grip portion 2 in the forward / backward direction can be processed as an operating force for operating the forward / backward movement with respect to the moving body.

  When the operation force is released (when the external force applied to the grip portion 2 is stopped), the action portion 4 is moved to the pressure sensor 3 by the urging force of the compression coil springs 5 and 6 interposed in one gap C2. The compression coil springs 5 and 6 act similarly in the other gap C1, and both the gaps C1 and C2 return to the same size.

  Next, when the gripping portion is moved in the rotation direction, as shown in FIG. 6B, the gripping portion 2 is rotated clockwise (or counterclockwise around the rotation shaft core constituting portions 10a and 10b as axes. ). The cross-sectional shapes of the rotating shaft core constituent portions 10a and 10b are arcs having the same diameter as the circle SC centered on the axis of the shaft portion 1, and the slidable contact surfaces 23 and 24 of the grip portion 2 that are in slidable contact therewith are , And can be slid along the peripheral edges of the rotating shaft core components 10a and 10b. Therefore, the rotation of the grip portion 2 results in a rotation about the axis of the shaft portion 1 as a result. By this rotation, the two opposing surfaces 21a and 21b of the grip portion 2 are both horned (inclined) with respect to the two flat portions 15 and 16 of the shaft portion 1, and both the gaps C1 and C2 are In both cases, gaps C1a and C2b that are reduced and gaps C1b and C2a that are enlarged are formed in the same gaps C1 and C2.

  At this time, the action part 4 arranged on the side of the gaps C1a and C2b to be reduced comes into contact with the pressure sensor 3 facing the gap, and the action part 4 arranged on the side of the gaps C1b and C2a to be enlarged is removed from the pressure sensor 3. It will be separated. In this state, the two pressure sensors 3 at the diagonal position of the shaft portion 1 having a rectangular cross section simultaneously detect the pressure, and are recognized as the operation force in the rotation direction by the detection of the pressure sensor 3 at the diagonal position. Can be made. Even in this case, since the pressure sensor 3 detects the magnitude of the pressure, it can detect the magnitude of the operating force.

  The figure shows a state in which the grip portion 2 is rotated clockwise. However, when the grip portion 2 is rotated counterclockwise, the inclination directions of the facing surfaces 21a and 21b of the grip portion 2 are reversed. Therefore, the pressure of the action part 4 by the pressure sensor 3 at the symmetrical diagonal position is detected. The combination of detection by the two pressure sensors 3 at the diagonal positions makes it possible to identify whether the operating force is clockwise or counterclockwise.

  By the way, the front end surface of each action part 4 is divided into the plane area | region 41 and the inclination area | region 42, as FIG. 7 shows. The plane area 41 indicates a portion configured by a plane parallel to the facing surfaces 21 a and 21 b of the grip portion 2, and the inclined area 42 indicates a section configured by a plane inclined with respect to the plane area 41. (See FIG. 7B). The plane area 41 is for securing a range in contact with the pressure sensor 3 when the grip portion 2 moves in the advancing / retreating direction as described above, and the inclined area 42 is used when rotating as described above. This is to ensure the contact surface. Therefore, when the shape of the action portion 4 in plan view is circular, both regions 41 and 42 are formed in a semicircular portion occupying a half of the shape, and the same area equivalent amount is detected by the pressure sensor 3 in any state. It can be brought into contact with the portion 31 (FIG. 7A).

  The inclined region 42 is inclined with respect to the planar region 41 in a state where a portion corresponding to the same angle Ra as the rotation angle R (see FIG. 6B) of the grip portion 2 can be cut away. The surface of the inclined region 42 is in contact with the sensing unit 31 of the pressure sensor 3 in an appropriate area when the gripping unit 2 rotates within a predetermined range and the action unit 4 reaches the pressure sensor 3. (See FIG. 7D). Due to such a contact state, the operating force applied when the gripping part 2 is rotated avoids pressure concentration due to point contact or line contact to the pressure sensor 3, and gives a distributed load due to surface contact. Thus, it is possible to calculate the operating force with the same pressure as in the case of forward / backward movement (FIG. 7C).

  Further, the sliding contact state between the rotating shaft core constituting portion 10a (, 10b) and the sliding contact surface 23 (, 24) is as shown in FIG. 8 in the tangential direction of the arcuate cross section. 24) is in a slidable contact state, and if the slidable contact surface 23 (, 24) is tangential to the arc, the grip portion 2 is moved in the forward / backward direction (see FIG. 8B). Even if it exists, even if it is a case where it moves to a rotation direction (refer FIG.8 (c)), a sliding contact state is maintained. Note that a gap is formed between the sliding contact surface 23 (, 24) and the regulating surface 17 (, 18) of the shaft portion 1, and the rotating shaft core component 10a (, 10b) By projecting from 18), it is possible to slidably contact the slidable contact surface 23 (, 24).

  The gap formed between the regulating surface 17 (, 18) and the sliding contact surface 23 (, 24) is such that the positions of both ends of the regulating surface 17 (, 18) are changed when the grip portion 2 is moved in the rotational direction. This is in order to ensure a clearance area when displaced toward the sliding contact surface 23 (, 24) (see FIG. 8C). And it is not necessary to provide this gap large, and the width is adjusted according to the setting of the rotatable angle. Further, a sliding contact region 7 as shown in the figure may be formed in order to adjust the sliding contact position with the rotating shaft core constituting portion 10a (, 10b). The sliding contact region 7 is formed by cutting out the vicinity of the center of the sliding contact surface 17 (, 18), and the protruding length of the rotating shaft core constituting portion 10a (, 10b) In accordance with the size), an area capable of sliding contact is ensured. Therefore, it is provided in a limited region where the sliding contact state is maintained, that is, when the grip portion 2 moves in the forward / backward direction (FIG. 8B) and when it moves in the rotating direction (FIG. 8C). In any state of ()), the rotation shaft core component 10a (, 10b) is provided in a range to be slidably contacted. In addition, when the whole space | interval of the two (one set) slidable contact surfaces 23 and 24 which opposes corresponds with the outer diameter of the rotating shaft core structure parts 10a and 10b of both sides, the said slidable contact area | region 7 is demonstrated. However, if special processing for slidable contact (for example, surface smoothing finishing, strengthening process, etc.) is required, it may be assumed that the slidable contact region 7 is configured.

  Although the embodiment of the present invention related to the operation grip is as described above, the above embodiment shows an example of the present invention, and the present invention is not limited to the above embodiment. Therefore, it can be set as the structure changed suitably about the said embodiment. For example, although the compression coil springs 5 and 6 are used as the urging means, the urging means is not limited to this, and a configuration in which a leaf spring is interposed may be used. An elastic body may be used. In short, it is only necessary that appropriate gaps C1 and C2 can be formed between the shaft portion 1 and the grip portion 2 in a state where no external force is applied.

  Next, an embodiment of the present invention relating to a moving body will be described. FIG. 9 illustrates a state in which an operation grip is used on a conveyance platform equipped with a power assist function. As shown in this figure, the basic structure of the moving body (platform) 100 includes a frame FL constituting the main body of the moving body, and a fork-shaped loading platform FO for loading luggage or pallets. ing. At the front end of the fork-shaped carrier FO, rotatable caster-like wheels 103, 104 are provided. No driving force is applied to the wheels 103, 104 so that they can roll, and the offset shaft Is attached to the fork-shaped carrier FO, and can be freely rotated (steered) on a horizontal plane around the offset axis. Drive wheels 105 and 106 are provided at the lower base end of the frame FL. A drive control box 107 is provided on the base of the frame FL, and a battery (not shown), an electric motor as an actuator, a microcomputer as a calculation means, and the like are mounted. The operation unit 101, 102 is provided on the frame FL, and the operation grip A is installed on the operation unit 101, 102 by inserting both ends of the operation grip A between the operation units 101, 102. .

  Here, the caster-like wheels 103 and 104 and the drive wheels 105 and 106 are provided symmetrically, and are provided in pairs. A pair of left and right electric motors for driving the drive wheels 105 and 106 is also prepared, and each individual electric motor has a motor driver. The operation grip A attached to the operation units 101 and 102 has the above-described configuration (see FIG. 1), and the direction of the shaft unit 1 is determined by the two plane units 15 and 16 where the pressure sensor 3 is installed. Is the front-rear direction. The operating force of the operating grip A with respect to the grip portion 2 is detected by the pressure sensor 3, and the detected value is sent to the microcomputer. As a calculation unit, the microcomputer calculates an operation force according to the pressure state detected by the pressure sensor of the operation grip A, and controls the electric motor for driving the left and right drive wheels 105 and 106 via the motor driver. It has a configuration. By assisting the driving force according to the operating force, the power assist function can be exhibited.

  The pressure sensor provided on the operation grip A can detect whether the movement of the gripping portion is in the forward / backward direction or the rotational direction (FIG. 6). At the same time, the steering force can be measured by detecting the pressing force. Therefore, when the pressure sensor detects an operation force in the forward / backward direction, the left and right electric motors are operated to rotate both drive wheels 105 and 106. At this time, when the operation force is applied to the front, the drive wheels 105 and 106 are driven to advance, and when the operation force is applied to the rear, the drive wheels 105 and 106 are driven to move backward.

  When the pressure sensor detects an operation force in the rotation direction, it is processed as a steering force. In this case, the drive wheels 105 and 106 necessary for steering are selected and driven. There are two types of steering methods, one driving only one of the driving wheels, and the other applying driving force that moves one forward and reverses the other. is there. For example, when steering in the right direction, only the left driving wheel 105 is driven in the former method, and in this case, the right driving wheel 106 is not driven. On the other hand, the left driving wheel 105 changes the traveling direction to the right while drawing an arc-shaped trajectory. At this time, the caster wheels 103 and 104 are driven while changing the rolling direction so as to match the changed direction. In the latter method, the left drive wheel 105 is moved forward and the right drive wheel is moved backward to rotate around the intermediate position between the two 105 and 106. Even in this case, the caster-like wheels 103 and 104 change their directions freely and are driven according to the rotation thereof. The above steering is processed when the pressure sensor detects the operating force in the rotational direction. However, it is assumed that the processing mode (which method is used) is preliminarily assumed and the steering is performed by any method. The

  An outline of a control system for controlling the drive state as described above will be described. FIG. 10 is a schematic diagram of the control system. As shown in this figure, the operating force (detected value by the pressure sensor circuit) detected by the operating grip A (precisely the pressure sensor) is a microcomputer (hereinafter abbreviated as a microcomputer) as a control device. The voltage value of the electric motor is calculated according to the magnitude of the detected value along with the presence or absence of detection. At this time, either linear movement (advance / retreat) or rotational movement (steering) is determined according to whether or not the operation force is detected by the plurality of pressure sensors, and the left and right electric motors are controlled based on the determination. When either one of the motor drivers for selecting the motor driver or both of the motor drivers is selected, whether to advance or reverse is determined for these. Further, the calculation function (calculation means) of the microcomputer calculates the output of the electric motor from the pressure detection result and outputs the result. The command of the voltage value (calculation result) to be output is sent to the motor driver, and the electric motor (drive motor) is rotated while being controlled to a predetermined voltage value. The rotational driving force by this motor is transmitted to the wheels 105 and 106, and the wheels 105 and 106 are rotated by a predetermined torque (rotational force). An encoder is installed on the output shaft (drive shaft) of the drive motor (electric motor), and the rotation state of the drive shaft measured by the encoder is input to the microcomputer. This is for comparing the driving state based on the calculated value by the microcomputer with the actual driving state and recalculating the command value.

  The pressure sensor circuit, the microcomputer, the motor driver, and the drive motor all use a battery power source. Information on the voltage of the battery is sent to the microcomputer, and it is determined whether the battery can be operated or charged in accordance with the remaining amount of the battery, and the lighting state of the battery lamp as the display unit is controlled. The lighting state of the battery lamp is made to make the operator aware of the change in color or the distinction of lighting, blinking, extinguishing, etc. based on an arbitrarily defined distinction.

  As described above, when the driving wheels 105 and 106 are rotated by receiving the driving force in accordance with the operation force, the power assist function is exhibited when the moving body 100 is moved. Even when a load (or a passenger) is mounted, it can be easily moved by the power assist function. In other words, when a heavy load is mounted, the operating force is strongly applied to the operating portion (gripping portion). Can be moved with a small operating force.

  This is not limited to the platform as described above, and can also be used in a small or lightweight moving body. In this case, it may be used as an operation grip for steering rather than exhibiting a power assist function. Furthermore, it can be used not only for a two-wheel drive mobile body but also for a four-wheel drive mobile body, and can also be used for steering in a two-wheel travel body.

  For example, as shown in FIG. 11, there is one that uses an operation grip A for steering in the two-wheel traveling body 200. The two-wheel traveling body 200 includes left and right drive wheels 205 and 206, and a necessary battery, actuator, microcomputer, motor driver, and the like are mounted inside the loading platform 208, and is loaded on the upper portion of the loading platform 208. Things can be loaded. The loading platform 208 incorporates a movable weight (counterweight) as disclosed in Japanese Patent Application Laid-Open No. 2011-131660 and Japanese Patent Application Laid-Open No. 2006-078722, and the loading platform 208 includes a weight sensor and an inclination angle sensor. The horizontal state can be maintained by detecting the state and controlling the movement of the counterweight. The traveling body means a moving body that can move by self-running.

  In the case of this type of traveling body 200, the operation force by the operation grip A can be used like an operation switch. That is, the gripping part is moved forward to start forward movement, and moved backward to start backward movement. Regarding the steering, it is possible to steer by rotating the gripping part during traveling to provide a difference in the rotational speeds of the left and right drive wheels 205 and 206, and to turn by a rotating operation in a stopped state. The operating force on the pressure sensor can also be used to adjust their speed. In addition, this kind of moving body is not limited to a self-propelled traveling body, and may be a moving body having a power assist function.

  Furthermore, the operation grip A having the above-described configuration may not be a mobile carriage, and can be used not as an operation but as a trigger handle. As an example, there may be one used as a trigger handle of a standing type parallel two-wheeled vehicle 300 as shown in FIG. In the parallel two-wheeled vehicle 300, a base having a step 308 is provided between the two parallel wheels 305 and 306, and a drive control box 307 is installed in the center thereof. Step 308 is configured such that the control box 307 can be placed on the left and right sides and placed on one foot. The drive control box 307 is provided with sensors for detecting the position of the center of gravity, and drives the wheels 305 and 306 in the direction of movement of the center of gravity by moving the center of gravity depending on the standing state. Therefore, the operation grip A is provided at the upper end portion of the column 309 erected from step 308. Handles 310 and 310 (not for operation) provided to support the body during normal center-of-gravity movement are provided at the upper end of the column 309, and the operation units 301 and 302 are erected from the center thereof. The operation grip A is installed on the operation units 301 and 302. Thus, if the operation grip A is used as a trigger handle at the time of starting, the parallel two-wheeled vehicle 300 can be started in a state where the balance is adjusted after getting on. The actuator for driving the two wheels 305 and 306 is set on the lower surface of the base, and the position of the center of gravity moved in the standing state is detected, and the driving force of the left and right wheels 305 and 306 is controlled. It allows forward, reverse and steering.

  The parallel motorcycle 300 having the above-described configuration can be configured to be operable by the operation grip A. That is, by using the control function for detecting the movement of the center of gravity as the control function for maintaining step 308 in a horizontal direction, step 308 can be maintained in a horizontal state regardless of the position of the center of gravity. . And operation of the operation grip A is used for the movement to the front-back direction and the turning direction. In addition, the parallel maintenance of step 308 can be performed by incorporating a counterweight, detecting the state of step 308 using sensors based on the center of gravity detection, and moving the counterweight, as in the above-described two-wheeled vehicle 200. .

  Thus, when operating with the operation grip A, the parallel two-wheeled vehicle 300 can be operated with one hand. For example, in a factory, the user holds a load with one hand and operates the parallel two-wheeled vehicle 300 with the other hand. It is also possible to do. Moreover, it is possible to switch between traveling by the center of gravity detection and traveling by the operation grip A, and selecting traveling by moving the center of gravity.

  Since the embodiment of the present invention relating to the moving body has the above-described configuration, it can be used to operate the moving body with a relatively simple configuration. And since the state which the mobile body moves corresponds to a user's sensory operating state, operation by a user is very easy.

  Each embodiment of the present invention is as described above. However, these are merely examples, and the present invention is not limited to these embodiments. Therefore, the above-described embodiment can be further modified.

  For example, in the above-described embodiment relating to the operation grip A, the pressure sensor 3 is provided on each of a pair (two) of plane portions 15 and 16 formed on the shaft portion 1, and the action portion 4 is provided on the grip portion 2. Although only the form (refer FIG. 3) each provided in one set (two) opposing surface part 21a, 21b formed in 1 was demonstrated, the pressure sensor 3 is provided in one plane part 15, and the opposing surface which opposes this The structure which provides the action part 4 in 21a may be sufficient. In the case of such a configuration, when the grip portion 2 is moved in the forward / backward direction, the operating force is detected only for either forward or backward movement, and the moving body is assisted only for forward or backward movement. Composed. In addition, in the case of the above configuration, when the grip portion 2 is moved in the rotation direction, the bias (relative to only one) of the plurality (usually two) of pressure sensors provided on one flat portion 15 is limited. ) Although the operation force is detected, it is possible to operate the moving body even when such an operation force is detected.

  In the above embodiment, the pressure sensor 3 and the action part 4 are installed in the shaft part 1 and the action part 4 is provided in the grip part 2, but the action part 4 is provided in the shaft part 1. The pressure sensor 3 may be installed on the grip portion 2. In this case, a signal line for transmitting a signal detected by the pressure sensor 2 cannot be embedded in the shaft portion 1, but a separate external wiring may be used. Furthermore, the grip portion 2 is configured so as to be integrated into two parts, which is the most common method for incorporating the shaft portion 1 and is due to manufacturing convenience. It may be an integrated form from the beginning or an assembled form with a large number of parts, and in order to limit the movement of the grip part 2 in the axial direction, it enables sliding contact with the operation part (pipe-like members P1, P2). However, it is good also as a structure which restrict | limits the mutual movement to an axial direction in the state which incorporated the axial part 1. FIG.

  On the other hand, in the embodiment according to the moving body, one operation grip A is used, but a plurality of operation grips A may be used depending on the application. Originally, a single operation grip A enables forward / backward movement and steering operation. For example, when there is a request to operate the left and right drive wheels individually, On the other hand, each control grip A may be controlled.

  As for the configuration related to steering, in addition to the above case, the steering shaft of the drive wheel or the driven wheel may be driven. In this case, for example, a part of the rotational driving force of the driving wheel can be separated into the steering shaft. The driving force can be separated by, for example, a differential type. The steering force is not limited to the differential type, and a configuration in which a steering motor is separately provided may be used.

DESCRIPTION OF SYMBOLS 1 Shaft part 2 Holding part 3 Pressure sensor 4 Action part 5, 6 Compression coil spring (biasing means)
7 Sliding contact regions 10a and 10b Rotating shaft core component 11 Shaft body 12 and 13 Connecting portion 14 Core materials 15 and 16 Shaft outer wall surface (planar portion)
17, 18 Shaft outer wall surface (regulation surface)
21a, 21b Recessed regions 22a, 22b having a substantially U-shaped cross-section.
23, 24, 23a, 23b, 24a, 24b Wall surfaces (sliding contact surfaces) on both sides having a substantially U-shaped cross section
25 Through-hole 26 Fastener 27 Male part 28 of through-hole Female part 31 of through-hole Pressure sensor sensing part 32 Signal line 41 Flat area 42 Inclined area 100, 200, 300 Moving body 101, 102, 301, 302 Operation part 103, 104 Caster-like wheels 105, 106, 205, 206, 305, 306 Drive wheels 107, 307 Drive control box 208 Loading platform 308 Step 309 Post 310 Handle portion A Operation grips P1, P2 Pipe-like members (operation units)
H1, H2 Pipe-shaped hollow internal FO Fork-shaped loading platform FL frame

Claims (9)

An operation grip used for operating a moving body, comprising a shaft portion having a predetermined axis, a grip portion mounted with play on the shaft portion, and between the shaft portion and the grip portion. The pressure sensor and the action part are arranged by utilizing play between the arranged pressure sensor, an action part that abuts against a sensing part of the pressure sensor to apply an operating force, and the shaft part and the grip part. In an operation grip provided with biasing means for biasing in directions away from each other,
The play between the shaft portion and the grip portion allows the grip portion to move forward and backward in a direction perpendicular to the axis of the shaft portion, and allows rotation in the circumferential direction around the axis. Is,
The shaft portion has a flat portion formed in a state where the surface is directed in a direction in which the grip portion advances and retreats,
The gripping portion has a facing surface portion facing the flat portion of the shaft portion,
At least one pressure sensor is installed on either side of the shaft portion on the surface of either the plane portion of the shaft portion or the opposed surface portion of the grip portion, with the axis of the shaft portion as a center, An operation grip provided on a surface at a position facing each of the pressure sensors. The shaft portion has a main body portion having a substantially rectangular cross-sectional shape, and two sets of outer wall surfaces facing each other are formed on the main body portion, and the one set of outer wall surfaces serves as the plane portion,
The other set of outer wall surfaces formed on the shaft portion is a restriction surface on which a rotating shaft core component having an arc-shaped cross section centering on the axis of the shaft portion is projected,
The gripping portion has a hollow region having a substantially rectangular cross-sectional shape, and two sets of inner wall surfaces facing each other are formed in the hollow region, and the pair of inner wall surfaces serve as the two facing surface portions facing the flat surface portion. Is,
2. The operation grip according to claim 1, wherein the other set of inner wall surfaces of the grip portion is a slidable contact surface that is slidably contacted with the rotating shaft core constituting portion.   The pressure sensor is installed at at least one place on each of the pair of plane portions of the shaft portion at positions that are symmetric about the axis of the shaft portion, and the action portion is provided for each of the pressure sensors. Projecting from the two opposing surface portions so as to oppose each other, and when the gripping portion rotates about the rotating shaft core constituting portion as an axis, the axis of the shaft portion is set to each of the two opposing surface portions. The operation grip according to claim 2, wherein the action part comes into contact with only one of the symmetrical positions as a center.   The tip of the action part is divided into a flat area and an inclined area. The flat area contacts the sensing part of the pressure sensor when the gripping part moves in the forward and backward direction, and the gripping part rotates in the inclined area. The operation grip according to any one of claims 1 to 3, which sometimes comes into contact with a sensing portion of the pressure sensor.   The operation grip according to any one of claims 1 to 4, wherein the pressure sensor is provided on a flat portion of the shaft portion, and the action portion is disposed to face each of the pressure sensors.   A moving body having the operation grip according to any one of claims 1 to 5, wherein at least a pair of driving wheels mounted on the left and right sides and the driving wheels are driven independently for each driving wheel. A pressure control unit including at least a pair of actuators for applying a driving force and at least one operation unit, wherein the single operation grip is provided in the operation unit with respect to the pair of actuators, and the pressure provided in the operation grip A control unit for controlling the operation of the actuator from a signal detected by the sensor is mounted, and the control unit determines a movement state of the gripping unit from a pressure detection state by a plurality of pressure sensors of the operation grip. A moving body characterized by determining and calculating an output of the actuator.   The state of the pressure detected by the pressure sensor of the operation grip is the presence / absence of pressure received by all of the plurality of sensors on the same surface due to the movement of the gripping portion in the forward / backward direction, and the same plane due to the rotation of the gripping portion. The presence or absence of pressure received by some of the plurality of sensors above, and the magnitude of these pressures. The detection of the pressure caused by the rotation of the gripping part makes the driving state different between the left and right drive wheels. The moving body according to claim 6, wherein the actuator is controlled so as to cause the actuator to move.   Furthermore, a steering actuator for steering the wheel is provided, and the state of the pressure detected by the pressure sensor of the operation grip is determined by all of a plurality of sensors on the same surface due to the movement of the grip portion in the advance / retreat direction. Is the presence or absence of pressure received, the presence or absence of pressure received by some of the plurality of sensors on the same plane due to the rotation of the gripping portion, and the magnitude of these pressures. The moving body according to claim 6, wherein the steering actuator is controlled by detection.   The actuator is an electric motor that exhibits a power assist function and has a motor driver. The control unit calculates an assist force based on a detection value by a pressure sensor, and the electric motor necessary for the assist force. The moving body according to any one of claims 6 to 8, further comprising arithmetic means for calculating a voltage value of the motor, wherein the motor driver controls the output of the electric motor based on a voltage command calculated by the arithmetic means.

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