JP3081809U - Self-propelled vehicle with swing suspension - Google Patents

Abstract

(57) [Summary] [Problem] A pair of swing frames are arranged side by side on a support plate suspended in the front center of a vehicle body in the form of a balance pin, and front wheels are supported at both ends of the frame. When the partition plate is connected with a parallel link pin, the rear wheel is arranged at the rear of the vehicle, and when one front wheel rides on a step,
The purpose of the present invention is to provide a self-propelled vehicle equipped with a swing suspension device in which only the swing frame is inclined, but the support plate and the vehicle body are supported by the rear wheels and are not inclined, and are suppressed to a vertical displacement of half a step. is there. SOLUTION: Center pins 3 and 3 are vertically arranged on a support plate 2 suspended in a front position of a vehicle body 1 to support a pair of swing frames 4 and 4 in a balance shape with pin shafts respectively. The two center pins are connected at equal intervals by pin shafts 6 and 6 arranged in parallel with the partition plates 5 and 5 to form a parallel link, and wheel bearings 8 and 8 are provided on both sides of the partition plates. Drive front wheels 10, 1 wedge-mounted
The output side of the motors 11 with a reduction gear provided at the inner side of the partition plate is connected to the axle input side, and the rear wheels 12 and 12 are disposed at the rear side of the vehicle body.

Description

[Detailed description of the invention]

[0001]

[Technical field to which the invention belongs]

 The present invention relates to a low-speed small motor-assisted vehicle and a self-propelled vehicle, including a wheelchair, whose speed is limited to less than 6 kilometers per hour by the Road Traffic Act. The present invention relates to a vehicle equipped with a wheel suspension device for preventing rollover when entering the vehicle.

[0002]

[Prior art]

 Conventionally, small and low-speed motorized assistive vehicles and wheelchairs, whose speed is limited to less than 6 km per hour under the Road Traffic Act, have to move from the roadway to the sidewalk successively, and have access to the steps and indoors. In many cases, the third wheel is provided in addition to the front and rear wheels in an electric wheelchair using direct drive wheels and casters by a motor with a speed reducer as front and rear wheels. There are two types: one that moves up and down the wheel by a considerable amount, and one that moves over a step by directly driving a relatively large-diameter front wheel to face the step.

[0003]

[Problems to be solved by the invention]

 As described in the prior art, as the front and rear wheels, a third wheel is provided in addition to the front and rear wheels in an electric wheelchair using a direct drive wheel and a caster by a motor with a speed reducer, and the same wheels are provided by a height equivalent to a step. When moving over a flat place, move the third wheel to the ascending position, and when moving over a step, operate the third wheel to the descending position to push up the vehicle and the front wheel casters. Next, the vehicle is traveling with the third wheel returned to the ascending position, and such a driving operation is troublesome and may cause an erroneous operation.

On the other hand, when the vehicle is driven over a step by a relatively large-diameter front wheel direct drive, in order to prevent a rollover, a steering operation is performed such that both front wheels face the step at the same time and cross the step. There is a need.

[0005] Then, the fifth wheel is used between the rear wheel direct drive and the front wheel caster, and the relatively large-diameter direct drive front wheel is simultaneously steered to a step and crosses over, and in both cases, both wheels are simultaneously driven. It is possible to get over a step when riding on a step, but if only one wheel runs on a step, the vehicle body may suddenly lean to the side and cause a rollover accident.

The present invention has been made in view of such a problem in the prior art, and a purpose thereof is to provide a pair of upper and lower balance-type swings on a support plate suspended in the center of a vehicle body. The center position of the frame is supported by a pin, and the partition plates that support the front wheels provided at both ends of the frame are connected by pins in a parallel link shape, and the rear wheels are arranged at the rear of the vehicle body. Even if the swing frame tilts due to the front wheel riding on a step, the front wheel, support plate and vehicle body are supported by the rear wheels and remain in vertical displacement at half the height of the step without leaning. The aim is to provide a self-propelled vehicle equipped with the equipment.

[0007]

[Means for Solving the Problems]

 In order to achieve the above object, the self-propelled vehicle equipped with the swing suspension device of the present invention has a support plate suspended below the center in the front of the vehicle body in the traveling direction, and a center is provided at the middle and the lower end of the support plate. The center pins of the pair of upper and lower rocking frames are supported by pin pins in the form of a balance, and the center pins of both ends of the rocking frame are equally spaced between the center pins. A parallel link type pin connected by pin shafts arranged side by side to the partition plate, a wheel bearing is provided at both outer positions of the partition plate, and a drive front wheel which is wedged to the axle is supported to support the same. A motor with a speed reducer is installed on the inner side, the deceleration output side of the motor is connected to the axle input side, and the rear wheels are arranged on the rear side of the vehicle body.

In addition, a support plate is suspended below the center of the front of the vehicle body in the traveling direction, and a center pin is vertically arranged in the middle and at the lower end of the support plate. The center position of the frame is supported by a pin-shape in the form of a balance, and the ends of the swinging frame are pin-connected to the parallel link by pin shafts that are equal to the distance between the center pins and arranged side by side on the partition plate. In addition, casters are provided as front wheels on both outer sides of the partition plate, and driving rear wheels are provided at the rear of the vehicle body.

In order to support the swing frame in a stable state with the center pin, the two base angles of a virtual isosceles triangle connecting the axis of the pin shaft at both ends of the swing frame and the center of the center pin. The dihedral angle (α in FIGS. 4 and 5) is given.

[0010]

[Embodiment of the invention]

 An embodiment of the invention will be described with reference to the drawings based on an embodiment. Referring to FIGS. 1 to 6, a support plate 2 is suspended below the center of the front of the vehicle body 1 in the traveling direction, and the support plate 2 Center pins 3 and 3 are arranged side by side on the upper and lower sides, and the center positions of a pair of upper and lower rocking frames 4 and 4 are respectively supported by a balance-shaped pin shaft by the two center pins, and are rocked together. At both ends of the frame, parallel pins are connected by pin shafts 6, 6 juxtaposed to the plates 5, 5 at equal intervals in the vertical direction of both center pins. Wheel bearings 7, 7 are provided on the side positions to support the axles 8, 8, and the drive front wheels 9, 9 are wedged at the outer end positions of the axles. Motors 10 and 10 with reduction gears are provided, and the deceleration output side of the motor is connected to the input side at the inner end of the axle. The succeeding disposed rear wheels 11, 11, by setting a relatively small shared load of the drive wheels 9, 9 are conducive to upward displacement during riding step.

In FIG. 7 to FIG. 11, a support plate 2 is suspended below the center of the front of the vehicle body 1 in the traveling direction, and center pins 3 and 3 are arranged in the middle of the support plate and above and below the lower end. The center position of the pair of upper and lower rocking frames 4 and 4 is supported by a pin in the form of a balance, respectively, with both center pins. Casters 12, 12 are provided as front wheels at both outer positions of the partitions 5, 5 in the form of pins connected in parallel link form by pin shafts 6, 6 arranged side by side to the partitions 5, 5. At the rear of the vehicle body, driving rear wheels 13, 13 which are directly connected to the motors 10, 10 having a large low-speed torque are arranged to reduce the load shared by the front wheels and increase the load shared by the rear wheels. As well as facilitating upward displacement, the thrust on the front wheel To ensure the driving propulsion of the rear wheels.

In order to stably support the swing frame by the center pin at the original position on the flat surface shown by the solid line in FIGS. Both base angles of a virtual isosceles triangle connecting the axis with the axis, that is, the dihedral angle α.

[0013] Also, with the original position on the flat surface shown by the solid line in FIGS. 4 and 5 as the origin, the non-ride-side swing of the swing frame that is pivotally supported on both sides by the center pin is set on the stepped position shown by the virtual line. The displacement angle of the riding-side swing frame is θ + 2α with respect to the frame displacement angle θ, and the support frame and the vehicle body are supported by the rear wheels and do not tilt. Although vertical displacements such as the h phase occur, the center position of the swing frame is pivotally supported by the center pin, so that the vertical displacement of the center pin, the support plate, and the vehicle body can be suppressed to half the height h, ie, half of the height on the step. Is shown.

At this time, the distance between the center pin 4 and the pin shaft 6 on one side is R, the displacement angle θ of the rocking frame on the non-riding side, the load shared by the front wheels is W, and the moment of the load on the center pin is the same. Let M be the displacement angle θ + 2α of the oscillating frame on the riding side, W 'be the load shared by the front wheels, and M' be the moment of the same load on the center pin, M 'be the pin shaft on both sides of the oscillating frame at the original position shown by the solid line. The tilt angle of the swing frame of the riding position with respect to the horizontal line connecting the centers of the two is centered on the non-riding side θ-α and the riding side θ + 2α-α, that is, θ + α. RCOS (θ−α) and the riding-side RCOS (θ + α), and the equilibrium state is maintained by Equation 1.

[0015]

(Equation 1)

Also, in Equation 1, when the displacement angle θ of the non-riding side swing frame is 0, the displacement angle θ + 2α of the rising side swing frame is 2α, which coincides with the state of the original position indicated by the solid line. As shown in Equation 2, the respective inclination angles are -α on the non-riding side and + α on the rising side, and the shared load W on both sides of the swing frame is equal to W ', and the center pin having the same load is used. The moment M for M is equal to M ', indicating that it is in equilibrium.

[0017]

(Equation 2)

In FIG. 5, the position indicated by the phantom line indicates that the displacement angle θ of the non-riding side swing frame is an upward angle from the origin θ = 0 and θ> 0 in the riding displacement state. In the state where the shared load W on the non-riding side on the non-riding side is larger than the shared load W 'on the riding-side, the swing frames on both sides show equilibrium. The shared load is almost equal to W ≒ W ', the moment M on the non-riding side of the swing frame relating to the center pin is larger than the moment M' on the riding side, and the displacement angle θ of the non-riding side swing frame is the origin. There is a tendency to return to the θ = 0 side.

[0019]

(Equation 3)

In addition, contrary to the step h in FIG. 5, when the wheel is dropped into the groove-shaped recess below the flat surface, the displacement angle θ of the non-dropping side swing frame is shifted from the origin θ = 0. Equation 4 indicates that the equilibrium state is maintained in a state where the non-dropping side shared load W is larger than the dropping side shared load W ′ in the state of θ <0 at the downward angle, When the drop depth is small and near the flat position, the shared loads on both sides are almost equal, W ≒ W ′, and the moment M of the center pin on the non-dropping side of the swing frame is the moment M of the drop side. ′, The displacement angle θ of the non-dropping side swing frame tends to return to the −α side.

[0021]

(Equation 4)

As described above, in the state where the displacement angle θ> −α or θ <−α on the non-passing side of the swing frame, the step or the depth of drop is small, and near the flat surface, Are almost equal, W ≒ W ′, and in each case, the displacement angle θ = −α of the oscillating frame as a condition for satisfying the equation 2, ie, the original position on the flat surface shown by the solid line in FIG. And maintain a stable state.

[0023]

[Effect of the invention]

 Since the present invention is configured as described above, the following effects can be obtained.

In the self-propelled vehicle provided with the swing suspension device according to the first aspect, a balance-type swing frame is pin-supported on a center pin of a bearing plate vertically suspended from the vehicle body, and is provided at both ends of the swing frame. The partition plates are connected in parallel link pins, so that when driving in a passageway or indoors, the load sharing of the front drive wheels can be set relatively small so that the vehicle can easily climb up a step and drive on one side. When the front wheel rides on the step, even if the front wheel and the partition plate ride on the step right above, the rocking frame tilts with the center pin as the fulcrum, and the bearing plate tilts while being supported by the rear wheel together with the vehicle body. It is possible to prevent the vehicle from overturning by only half the height of the step without displacing.

When the front wheels on both sides ride on the step at the same time, the vehicle leans rearward with the rear wheel as a fulcrum. The rearward inclination angle is an inverse sine of 10/75, that is, 7.6 degrees, and when one of the front wheels climbs or falls on a step of 10 cm, the vertical displacement of the vehicle body is half of the step. Since it is 1, that is, 5 cm, the inclination angle of the vehicle body is 5/75 inverse sine, that is, 3.8 degrees, and both of the simultaneous stepping on the front wheels on both sides and the stepping on one side or dropping are both of the fall accident. There is no danger, and the latter, that is, the case of climbing on one side or falling, is rather safe.

In the self-propelled vehicle provided with the swing suspension device according to the second aspect, a balance-type swing frame is supported by a center pin of a support plate vertically suspended from the vehicle body, and the swing frame is provided. Separators are connected by pins at both ends in parallel link form.When traveling in a passageway or indoors, the load shared by the casters is set relatively small, and the thrust of the rear wheels of the drive causes upward displacement when climbing a step. When the caster and the partition plate are displaced immediately above the one caster on the step, the rocking frame swings and tilts with the center pin as a fulcrum, and the bearing plate moves together with the vehicle body. It is supported by the wheels and only displaces vertically upward by half of the step without tilting, and the vehicle can be prevented from rolling over.

In the case where the casters are disposed as the driving rear wheel and the front wheel, when the casters on both sides ride on a step at the same time by the thrust of the driving rear wheel, the rear leaning is performed with the driving rear wheel as a fulcrum. As in the case of the driving front wheels, when the wheelbase is 75 cm and the step is 10 cm, the rearward tilt angle of the vehicle body is an inverse sine of 10/75, that is, 7.6 degrees. When the vehicle body is raised or dropped, the vertical displacement of the vehicle body is one half of the step, that is, 5 cm. Therefore, the rearward leaning angle of the vehicle body is 5/75 arc sine, that is, 3.8 degrees. There is also no risk of a fall accident, and the latter, that is, the case where one of the front wheels climbs on a step or falls, is rather safe.

When the front wheel on one side is dropped into the groove-shaped recess opposite to the step, the above-mentioned riding side is equivalent to switching to the non-overriding side, and when the falling depth is −h. The center pin, the support plate, and the vehicle body do not lean sideward due to the support of the rear wheels, the vertical displacement is suppressed to -h / 2, and rollover can be prevented.

Since both base angles of a virtual isosceles triangle connecting the center axes of the pin pins at both ends of the swing frame and the center pin axis, that is, dihedral angles α, are provided, the center pin swings. By supporting the moving frame in a stable state, it is possible to return from the tilted state of the swinging frame in a state of riding on a step with one wheel to the balanced state of the swinging frame on a flat surface.

As described above, the self-propelled vehicle equipped with the swing suspension device of the present invention includes an electric wheelchair and a low-speed small driving assistance vehicle, and one wheel can enter a step or a recess on the road or indoors. At the same time, it is possible to provide a safe self-propelled vehicle that prevents the vehicle from leaning to the side and falling down.

[Brief description of the drawings]

FIG. 1 is an elevation view of a self-propelled vehicle including a swing suspension device having a drive front wheel suspended.

FIG. 2 is a plan view of the self-propelled vehicle of FIG.

FIG. 3 is a sectional view of a main part in detail along AA in FIG. 1;

FIG. 4 is an elevational view of a detail of a main part viewed from an arrow B in FIG. 1, in which a solid line indicates a state on a flat surface, and a virtual line indicates a state in which a one-side drive front wheel rides on a step h.

5 is a diagram schematically showing a detailed state of the main part of FIG. 4, wherein a solid line shows a state on a flat surface, and a virtual line shows a state in which the one-side drive front wheel rides on a step h.

FIG. 6 is a bottom view of a detail of a main part viewed from an arrow C in FIG. 1;

FIG. 7 is an elevational view of a self-propelled vehicle equipped with a rocking suspension device in which casters are arranged on front wheels and driving rear wheels are arranged on rear wheels.

FIG. 8 is a plan view of a self-propelled vehicle provided with the swing suspension device of FIG. 7;

FIG. 9 is an elevational view of a detail of a main part viewed from an arrow D in FIG. 7;

FIG. 10 is an elevational view showing a state in which the caster on one side of FIG. 9 rides on a step.

FIG. 11 is a bottom view of the details of the main part viewed from the arrow E in FIG. 7;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body 2 Support plate 3 Center pin 4 Oscillating frame 5 Separator plate 6 Pin shaft 7 Car bearing 8 Axle 9 Drive front wheel 10 Motor with reduction gear 11 Rear wheel 12 Caster 13 Drive rear wheel

Claims (2)

[Utility model registration claims] 1. A support plate (2) is suspended below the center of the front of the vehicle body (1) in the traveling direction, and center pins (3, 3) are vertically arranged in the middle and at the lower end of the support plate. By means of the center pins, the center positions of the pair of upper and lower swing frames (4, 4) are supported by pin pins in the form of a balance, respectively. With the pin shafts (6, 6) arranged in parallel with each other and connected by pins in a parallel link form, wheel bearings (7, 7) are provided at both outer positions of the partition plates (5, 5). Drive front wheels (9, 9) wedged to axles (8, 8)
And a motor with a speed reducer (1
0, 10), the deceleration output side of the motor is connected to the input side of the axle, and the rear wheels (11,
A self-propelled vehicle provided with a swinging suspension device provided with 11). 2. A support plate (2) is suspended below the center of the front of the vehicle body (1) in the traveling direction, and center pins (3, 3) are vertically arranged at the middle and the lower end of the support plate. By means of the center pins, the center positions of the pair of upper and lower swing frames (4, 4) are supported by pin pins in the form of a balance, respectively. Casters (12, 12) are provided as front wheels on both sides of the partition (6, 6), with the pins connected in parallel link form by the pin shafts (6, 6) arranged side by side on the 5, 5). A self-propelled vehicle provided with a rocking suspension device in which rear driving wheels (13, 13) are arranged at the rear of the vehicle body.