JP2024013546A - mobile device - Google Patents

Abstract

An object of the present invention is to provide a moving device that can touch the ground at the rear of the moving device and can run stably. SOLUTION: The main body running part 11 includes a moving body main body part 11 having a main body running part 23 at the bottom, and the main body running part 23 has a plurality of drive wheels 28 arranged on the left and right sides that can be independently rotated back and forth, and a plurality of drive wheels 28. It has a front free wheel 29 which is arranged in front of the wheel 28 and can freely rotate and turn, and by controlling the rotation of the plurality of drive wheels 28 in the front and back direction, the movement is possible to move forward, backward, and turn left and right. The apparatus 10 includes, at the rear of the movable body main body part 11, a movable body rear part 12 which is provided so as not to be able to swing in the left-right direction with respect to the movable body main body part 11 and has a rear running part 32 at the bottom, The rear traveling section 32 has a rear flexible wheel 46 that is arranged rearward of the plurality of drive wheels 28 and is rotatable and pivotable. [Selection diagram] Figure 1

Description

The present invention relates to a moving device having free wheels and drive wheels.

2. Description of the Related Art In recent years, many moving devices have been developed in which a small moving body such as a trolley is provided with drive wheels so that it can run. Some of these small-sized mobile devices can be driven by a user riding on them. For example, Patent Document 1 discloses an example of an electric trolley in which a boarding step is provided at the rear of the loading platform so that a user can operate a handle on the boarding step. Further, Patent Document 2 also proposes a power-assist trolley provided with a step for a person to ride on the rear of the vehicle body.

Japanese Patent Application Publication No. 9-240477 Japanese Patent Application Publication No. 10-264825

However, in the above-mentioned small-sized moving device, steps and the like are provided so as to protrude rearward and not touch the ground. Therefore, when a user rides behind the moving object and a load that is large compared to the weight of the moving object is applied, the stability during running may decrease.

Therefore, an object of the present invention is to provide a moving device that can touch the ground at the rear of the moving device and can run stably.

A moving device of the present invention that achieves the above object includes a moving body main body having a main body running section at the bottom, and the main body running section has a plurality of drive wheels arranged on the left and right and each independently rotatable back and forth. , a front free wheel that is disposed in front of the plurality of drive wheels and can freely rotate and turn, and the movement that can move forward, backward, and turn left and right by controlling the longitudinal rotation of the plurality of drive wheels. The apparatus includes a rear part of the mobile body which is provided at the rear of the main body part of the mobile body so as not to be able to swing in the left and right direction with respect to the main body part of the mobile body and has a rear running part at the bottom, the rear running part comprising: It is characterized by having a rear freely rotatable wheel that is arranged behind the plurality of drive wheels and can freely rotate and turn.

In the moving device of the present invention, preferably the moving body main body portion and the moving body rear portion are connected by a link portion, and the moving body rear portion is connected to the moving body main body portion so as to be swingable in the vertical direction by the link portion. has been done.

Preferably, in this moving device, the rotation axes of the plurality of drive wheels are arranged on the same axis, and the link portion is connected to the main body portion of the moving body in front of the rotation axis of the plurality of drive wheels.

In addition, in this moving device, the main body traveling section has a driving wheel support section that is fixed to the frame of the moving body main body section and supports the driving wheel, and the link section is connected to the driving wheel supporting section. good.

Furthermore, according to a preferred embodiment of this moving device, the main body of the moving body includes a placing part on which people or luggage are placed, and a place behind the placing part for the user to operate driving wheels. It is equipped with an operating section that protrudes upward, and consists of a transport vehicle main body for transporting people, luggage, etc., the rear part of the moving body is a boarding part on which a user can board, and the link part is The rear portion of the movable body is connected to the movable body body portion so as not to be able to swing in the left-right direction.

In the moving device of the present invention, the longitudinal distance from the drive wheel to the front free wheel is D1, the longitudinal distance from the drive wheel to the rear free wheel is D2, the distance between the left and right front free wheels is G1, and the distance between the left and right rear free wheels is When the distance between G2 and G2 is G2, D1:D2 and G2:G1 may have substantially the same dimensions.

According to the moving device of the present invention, the main body running section includes a plurality of drive wheels arranged on the left and right sides and capable of being independently driven to rotate in the front and back directions, and a front drive wheel arranged ahead of the drive wheels and capable of freely rotating and turning. Since the movable body main body is configured with wheels, the front free wheel freely rotates and turns in response to control of the rotation of the plurality of drive wheels, so that the movable body main body can move forward, backward, and turn left and right.

At the rear of the main body of the moving body, there is provided a rear part of the moving body which cannot swing in the left-right direction and has a rear running part at the bottom, and the rear running part of the rear part of the moving body is arranged behind the drive wheels. Since the movable vehicle has a rear free wheel that can rotate and turn freely, when an operator gets on the vehicle, the load applied to the rear portion of the moving body can be supported by the rear free wheel. Moreover, when traveling, the rear free wheel can freely rotate and turn in response to the rotation control of multiple drive wheels, so the rear part of the mobile body can move forward, backward, and turn left and right together with the main body of the mobile body, making it stable. You can run with it.

Therefore, according to the moving device of the present invention, the rear of the moving device can be stably grounded, and a moving device capable of running stably can be provided.

In particular, the main body of the moving body and the rear part of the moving body are connected by a link part, and this link part connects the rear part of the moving body to the main body of the moving body so as to be able to swing in the vertical direction. The ground contact position of the rear free wheel can be moved up and down with respect to the ground contact surface on which the front free wheel and drive wheel contact the ground. Therefore, even when the mobile device travels on a road surface with a changing slope or a road surface with steps, the front free wheel, drive wheel, and rear free wheel can be kept in contact with the ground. It is also possible to prevent bending forces from acting up and down. Therefore, the mobile device can run stably regardless of changes in the road surface.

FIG. 2 is a perspective view of the moving device according to the embodiment of the present invention, seen from above on the front side. FIG. 2 is a perspective view of the moving device according to the embodiment of the present invention, seen from the upper rear side. FIG. 1 is a plan view of a moving device according to an embodiment of the present invention. FIG. 1 is a side view of a moving device according to an embodiment of the present invention. FIG. 2 is a bottom view of a moving device according to an embodiment of the present invention. FIG. 3 is a partial side view showing a link portion of the moving device according to the embodiment of the present invention. FIG. 2 is a partial perspective view showing a connection structure of a link part of a moving device according to an embodiment of the present invention. FIG. 2 is a partial front view showing a connection structure of a link part of a moving device according to an embodiment of the present invention. It is a partial bottom view showing the connection structure of the link part of the moving device concerning an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings, but the present invention is not limited to the embodiments and can be modified as appropriate. In particular, the shapes, dimensions, positional relationships, etc. of each member shown in the drawings are merely conceptual matters, and can be arbitrarily changed depending on the application situation. In each figure, the same reference numerals are given to the same or corresponding members. In this embodiment, a transportation device for transporting luggage will be described as an example of a transportation device, which is provided with a user's boarding section at the rear of a transportation vehicle main body on which luggage is placed and self-propelled for transportation.

As shown in FIGS. 1 to 5, the moving device of this embodiment includes a carrier main body 11 as a moving body main body, and a boarding part 12 as a rear part of the moving body provided at the rear of the carrier main body 11. , is a transport vehicle 10 configured to be connected by a link portion 13. The carrier body 11 is configured to be able to place cargo including various items such as delivered goods and parts to be transported within the factory, and the boarding section 12 is configured so that a user, that is, an operator, can board the vehicle in a standing position. has been done.

The carrier body 11 includes a vehicle body 21, a cargo loading section 22 provided at the top of the vehicle body 21, a main body traveling section 23 provided at the bottom of the vehicle body 21, and a cargo loading section 23 extending upward from the rear end of the loading section 22. The vehicle includes an extending handle 24 and an operating section 25 attached to the upper part of the handle 24 and operated by the user to drive the vehicle.

The vehicle body 21 is formed into a flat rectangular parallelepiped shape and includes a frame 26 and a vehicle body molded body 27 fixedly attached to the frame 26. The entire upper surface of the vehicle body molded body 27 except for the rear end serves as a cargo placement section 22. The main body traveling section 23 includes a plurality of drive wheels 28 arranged on the left and right sides that can be independently driven to rotate back and forth, and a front free wheel 29 that is arranged ahead of the plurality of drive wheels 28 and can freely rotate and turn. , has.

Each drive wheel 28 is supported by a drive wheel support part 31 fixedly provided to the frame 26 of the vehicle body 21, and the rotation axes of the left and right drive wheels 28 are arranged on the same axis perpendicular to the axle L1 direction. ing. A motor 32 equipped with a speed reduction mechanism is attached to the drive wheel support section 31 for each drive wheel 28, and is configured to be able to rotate each drive wheel 28 in the front-rear direction using electric power from a battery 33.

The front adjustable wheels 29 are arranged at left and right positions perpendicular to the direction of the axle L1 on the front side of the vehicle body 21. The distance between the left and right front free wheels 29 may be equal to or less than the distance between the drive wheels 28. Each front flexible wheel 29 is made of a caster fixed to the frame 26, and each wheel is rotatable, and the rotating shaft of the wheel is rotatable. In this embodiment, the wheels constituting the front free wheel 29 are made of pneumatic tires.

The handle 24 is used when the user operates the transport vehicle 10, and in this embodiment, it is formed in a substantially U-shape with both ends fixed to the vehicle body 21. The operating section 25 attached to the upper part of the handle 24 includes a shift lever, a joystick, an emergency stop switch, etc., and when operated by the user, the rotational direction and rotational speed of each drive wheel 28 can be controlled via a control section (not shown). can be controlled to move the carrier body 11 forward, backward, turn left and right, etc.

On the other hand, the boarding section 12 includes a rear body 31 that is arranged at the rear of the carrier body 11 and is provided so as not to be able to swing in the left-right direction with respect to the carrier body 11, and a rear body 31 that is provided at the bottom of the rear body 31. It has a traveling part 32. The rear body 31 is formed into a flat, substantially rectangular parallelepiped shape that is smaller than the body 21 of the transport vehicle main body 11, and includes a rear frame 43 and a rear molded body 44 fixedly attached to the rear frame 43. Although not limited in any way, the rear frame 43 of this embodiment has a downward protrusion that protrudes downward from the region where the rear molded body 44 is mounted on the transport vehicle main body 11 side, as shown in FIG. 45 are provided.

The rear traveling section 32 has a rear free wheel 46 that is arranged behind the left and right drive wheels 28 and is rotatable and pivotable. The rear adjustable wheels 46 are arranged at left and right positions perpendicular to the direction of the axle L1. The distance between the left and right rear free wheels 46 may be equal to or less than the distance between the drive wheels 28. Each rear adjustable wheel 46 is composed of a caster fixed to the frame 26, and each wheel is rotatable and the rotation axis of the wheel is pivotable. In this embodiment, the wheels constituting the rear adjustable wheel 46 may be different from the wheels of the front adjustable wheel 29.

The link part 13 is provided to connect the carrier body 11 and the boarding part 12, and as shown in an enlarged view in FIG. Link arms 51 extending forward from the protrusion 45 are provided on the left and right, spaced apart from each other. In this embodiment, the left and right link arms 51 are connected by a connecting rod 52 at the front end side.

In the connection structure of each link arm 51, as shown in FIG. 7 to FIG. It is connected to the carrier body 11 on an axis perpendicular to the direction. Thereby, the riding section 12 is connected to the carrier body 11 so that it can swing only in the vertical direction, but cannot swing in the left-right direction.

Specifically, fixing brackets 53 are fixed to the left and right drive wheel support parts 31 provided on the main body traveling part 23 of the carrier main body 11, and a shaft 54 is fixed between the fixed brackets 53 in a direction perpendicular to the axle L1 direction. is bridged and fixed. This shaft 54 is disposed between the drive wheel 28 and the front free wheel 29, specifically at a position forward of the rotation axis of the drive wheel 28. A pivot bracket 55 fixed to the front ends of the left and right link arms 51 is rotatably connected to the shaft 54. As a result, the left and right link arms 51 cannot swing in the left-right direction, but can only swing in the vertical direction about the shaft 54 at a position forward of the rotation axis of the drive wheel 28. is connected to.

In the transport vehicle 10 of this embodiment, the transport vehicle main body 11 and the boarding section 12 are connected by the link section 13 in this way, and it has a total of six wheels.In this state, the front free wheel 29, the drive wheel 28 The position with respect to the free wheel 46 can be set as follows.
As shown in FIG. 5, the distance in the axle direction from the drive wheel 28 to the front free wheel 29 is D1, the distance in the axle direction from the drive wheel 28 to the rear free wheel 46 is D2, and the distance between the left and right front free wheels 29 is When the distance between the left and right rear free wheels 46 is G1, and the distance between the left and right rear adjustable wheels 46 is G2, the setting is made so that the inverse ratio of the front and rear distance ratio D1:D2 and the left and right distance ratio G1:G2 is as close as possible. is preferable,
D1:D2=G2:G1 (Formula 1)
It is particularly preferable that This relationship may be appropriately corrected and applied depending on the rolling resistance of the front free wheel 29 and the rear free wheel 46, etc. With such a relationship, when traveling in a turning direction or turning, the resistance from the road surface is equal between the front adjustable wheels 29 and the rear adjustable wheels 46, allowing smooth traveling.

For example, when adding the boarding section 12 to the existing carrier body 11, the distance in the axle direction from the drive wheel 28 to the front free wheel 29 (D1) and the distance between the left and right front free wheels 29 (G1) are determined. It may be determined by measurement, and then the distance G2 between the rear adjustable wheels 46 and the distance D2 from the drive wheel 28 to the rear adjustable wheels 46 may be determined to approximate or match D1:D2=G2:G1.

To use such a transport vehicle 10, the user, while riding on the boarding section 12, operates the operating section 25 of the handle 24 to control the forward and backward rotational directions and rotational speeds of the plurality of drive wheels 28. You can adjust and drive. At this time, when traveling at a point where the slope of the road surface changes or a point having a step, the riding section 12 swings up and down with respect to the carrier body 11, so that the vehicle can run stably. Further, when traveling in the left-right rotation direction, the riding section 12 is subjected to inertia force, centrifugal force, etc. outward in the turning direction, but since the riding section 12 does not swing left and right with respect to the carrier body 11, the carrier The riding part 12 can travel stably without shifting outward with respect to the main body 11.

According to the transport vehicle 10 of the present embodiment as described above, the main body running section 23 includes a plurality of drive wheels 28 arranged on the left and right sides and each independently rotatable in the front and back directions, and a plurality of drive wheels 28 arranged in front of the drive wheels 28. Since the front free wheel 29 is provided with a front free wheel 29 that can freely rotate and turn, the front free wheel 29 freely rotates and turns in response to the control of rotation in the plurality of drive wheels 28, so that the transport vehicle main body 11 can move forward, backward, and turn left and right.

At the rear of the carrier body 11, there is provided a boarding section 12 that cannot swing in the left-right direction and has a rear running section 32 at the bottom. Since the rear wheel 46 is rotatable, the load applied to the riding section 12 can be supported by the rear wheel 46.

Moreover, when traveling, the rear free wheel 46 freely rotates and turns in response to the rotation control of the plurality of drive wheels 28, so that the riding section 12 can move forward, backward, and turn left and right together with the carrier body 11, and is stable. You can drive with At this time, since the boarding section 12 cannot swing in the left and right directions with respect to the transport vehicle main body 11, even if the transport vehicle main body 11 is turned left and right by the main body traveling section 23, the boarding section 12 will not be able to move due to inertial force or centrifugal force. This prevents it from swinging from side to side. Therefore, according to this carrier vehicle 10, the rear of the carrier vehicle 10 can be stably grounded, and stable running is possible.

In particular, according to the carrier 10 of this embodiment, the carrier body 11 and the boarding section 12 are connected by the link part 13, and the link part 13 swings the mounting part 12 vertically with respect to the carrier body 11. Since they are movably connected, the ground contact position of the rear free wheel 46 can be vertically displaced with respect to the ground contact surface on which the front free wheel 29 and the drive wheel 28 of the main body traveling portion 23 touch the ground. Therefore, even when the transport vehicle 10 travels on a road surface with a changing slope or a road surface with steps, the front free wheel 29, the driving wheel 28, and the rear free wheel 46 can be grounded, and the moving body It is also possible to prevent vertical bending forces from acting on the entire structure. As a result, the transport vehicle 10 can run stably regardless of changes in the road surface.

In this transport vehicle 10, the rotation axes of the plurality of drive wheels 28 are arranged on the same axis, and the link portion 13 is connected to the transport vehicle main body 11 in front of the rotation axes of the plurality of drive wheels 28. Therefore, when the load applied by the user riding on the boarding section 12 is applied to the transport vehicle main body 11 via the link section 13, the transport vehicle main body 11 is It is possible to prevent a load from acting in a direction that would cause the front side of the front side to lift up. This allows stable driving regardless of changes in the road surface.

In addition, in this transport vehicle 10, the main body traveling portion 23 has a drive wheel support portion 31 that is fixed to the frame 26 of the transport vehicle main body 11 and supports the drive wheel 28, and the link portion 13 is attached to the drive wheel support portion 31. Because they are connected, the driving force from the drive wheels 28 can be directly transmitted to the riding section 12 without going through the vehicle body 21 or the frame 26, and the inertia force transmitted from the riding section 12 during acceleration and deceleration can be transmitted to the driving wheels 28. It can be loaded nearby. Therefore, excessive force is not applied to the vehicle body 21, frame 26, etc. of the transport vehicle main body 11 above the drive wheel support portion 31, and distortion does not occur in the vehicle body 21, frame 26, etc. of the transport vehicle main body 11. It is possible to prevent the front free wheel 29 from floating, and stable running is possible.

Furthermore, in this transport vehicle 10, the transport vehicle body 11 has a loading section 22 on which luggage and the like are placed, and an operation panel provided at the rear of the loading section 22 that protrudes upward for the user to operate the running section. The transport vehicle 10 is equipped with a section 25 and a boarding section 12 on which a user can ride, and a link section 13 swings the boarding section 12 in the left-right direction with respect to the transport vehicle main body 11. Impossibly connected. Therefore, the boarding part 12 can always be arranged at a predetermined position facing the transport vehicle 10, and the operator who boards the board 12 can always arrange the boarding part 12 at a predetermined opposing position with respect to the transport vehicle 10. The user is always kept in a predetermined orientation. Further, it is possible to prevent excessive centrifugal force from acting on the riding section 12 when turning left and right, and it is also possible to reliably prevent the rider from falling from the riding section 12. As a result, the operation unit 25 can be easily operated, and the transport vehicle 10 can be run more stably.

(Example)
A prototype transport vehicle was manufactured by adding a boarding section 12 to an existing transport vehicle main body 11. The size of the carrier body 11 is approximately 605 mm x approximately 906 mm. The size of the boarding section 12 was approximately 520 mm x approximately 330 mm. The distance (D1) in the axle direction from the drive wheel 28 to the front free wheel 29 was 514 mm, and the distance (G1) between the left and right front free wheels 29 was 339.5 m. The distance (G2) between the rear adjustable wheels 46 was 360 mm, and the distance (D2) from the drive wheel 28 to the rear adjustable wheels 46 was 480.7 mm. In this case, in Equation 1 above, D1:D2=514:480.7=1.069, and G2:G1=360:339.5=1.060, which almost match Equation 1. When the user operates the transport vehicle 10 using the operation unit 25, loads 100 kg of luggage on the luggage storage unit 22, and travels at a speed of 6 km/h, the vehicle runs stably on a road surface with a changing slope or a road surface with steps. I was able to do that. The vehicle was able to run stably over a level difference of about 50 mm. Furthermore, it was possible to run stably on a gradient of about 8 degrees.

Note that the above embodiments can be modified as appropriate within the scope of the present invention.
For example, although the above embodiment has been explained using the example of the transport vehicle 10, the present invention can be applied to any mobile device that has drive wheels and free wheels and is self-propelled. It may be a wheelchair, etc.
Furthermore, in the embodiment described above, the carrier 10 has been described in which the carrier body 11 as the movable body body is connected to the boarding section 12 as the rear part of the movable body via the link part 13. The present invention can also be applied to a structure in which the rear part of the body is integrally formed without a partition, and free wheels are provided on both the front side and the rear side of the drive wheel 28.

10 Transport vehicle (transfer device)
11 Transport vehicle main body (mobile main body part)
12 Boarding section (rear section of moving body)
13 Link section 21 Vehicle body 22 Placement section 23 for placing people or luggage, etc. Main body running section 24 Handle 25 Operation section 26 Frame 27 Vehicle body molded body 28 Drive wheel 29 Front free wheel 31 Drive wheel support section 32 Motor 33 Battery 41 Rear Vehicle body 42 Rear traveling section 43 Rear frame 44 Rear molded body 45 Lower protrusion 46 Rear free wheel 51 Link arm 52 Connecting rod 53 Fixed bracket 54 Shaft 55 Pivot bracket L1 Axle

Claims (6)

A moving body main body part having a main body traveling part at the bottom,
The main body running section has a plurality of drive wheels arranged on the left and right sides that can be independently driven to rotate back and forth, and a front free wheel that is arranged in front of the plurality of drive wheels and can freely rotate and turn. , a moving device capable of moving forward, backward, and turning left and right by controlling the longitudinal rotation of the plurality of drive wheels,
At the rear of the movable body main body, a movable body rear part is provided so as not to be able to swing in the left and right direction with respect to the movable body main body, and has a rear running part at the bottom,
The rear traveling section is a moving device having a rear flexible wheel that is arranged behind the plurality of drive wheels and is rotatable and pivotable. The movable body main body portion and the movable body rear portion are connected by a link portion,
The moving device according to claim 1, wherein the link portion connects the rear portion of the moving body to the main body portion of the moving body so as to be swingable in the vertical direction. The moving device according to claim 2, wherein rotation axes of the plurality of drive wheels are arranged on the same axis, and the link portion is connected to the movable body main body portion in front of the rotation axis of the plurality of drive wheels. . 2. The main body traveling section has a drive wheel support section that is fixed to a frame of the movable body main body section and supports the drive wheel, and the link section is connected to the drive wheel support section. The mobile device described in . The movable body main body portion includes a placing portion on which a person or luggage is placed, and an operating portion provided at the rear of the placing portion and protruding upward for the user to operate traveling by the drive wheels. The main body of the transport vehicle is equipped with
The rear part of the mobile body is a boarding part on which the user can board,
The moving device according to claim 2, wherein the link portion connects the rear portion of the moving body to the main body portion of the moving body so as not to swing in the left-right direction. The longitudinal distance from the drive wheel to the front free wheel is D1, the longitudinal distance from the drive wheel to the rear free wheel is D2, the distance between the left and right front free wheels is G1, and the distance between the left and right rear free wheels. The moving device according to any one of claims 1 to 5, wherein D1:D2 and G2:G1 are approximately equal when the interval is G2.

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