JP3244779U - mobile object - Google Patents

Abstract

An object of the present invention is to provide a moving body that is easy to get on and off and has high stability when getting on and off. A moving body M includes a main body part 1 and a main body support part 2, and the main body support part includes first and second rim parts 2L and 2R arranged on the left and right sides of the main body part. The first and second rim parts include a rim main body part 21 having first and second hip joint parts HJf and HJr, a first leg part 22f connected to the rim main body part via the first hip joint part, and a second It has a second leg portion 22r connected to the rim main body portion via the hip joint portion. The moving body M has a basic posture in which the first leg opening angle θ3f of the first leg and the second leg opening angle θ3r of the second leg are set to predetermined angles, and the basic posture in which the second leg opening angle θ3r is set to a predetermined angle. In addition, the second leg opening angle θ3r is set to a larger angle than the first leg opening angle θ3f, so that the second wheel 23r is larger than the first wheel 23f in the longitudinal direction DL with respect to the rim body. The boarding and disembarking positions are located far apart, and can be switched to. [Selection diagram] Figure 9

Description

The present invention relates to a moving object.

Patent Document 1 discloses a moving body that includes a raised part on which a passenger can ride, and a pair of arms or rim parts that are arranged on the left and right sides of the raised part and are formed in an arched shape as a whole. There is.

Japanese Patent Application Publication No. 2014-234137

Although the moving body disclosed in Document 1 mentioned above has a simple configuration, the entire arm part is formed of a rigid member, so the arm part itself cannot be deformed, making it easy for the occupant to get on and off the vehicle. It was difficult to maintain a proper posture, and it was inconvenient for the occupants to have to get on and off the platform at a high position. Furthermore, since the raised part is kept at a high position when getting on and off, and therefore the center of gravity of the entire moving body is also maintained at a high position, there is a concern that stability is lacking when getting on and off, and it is easy to wobble.

In view of these circumstances, an object of the present invention is to provide a moving body that can realize more diverse postures, is easy to get on and off of, and has high stability when getting on and off.

In order to solve the above problems, a moving body according to an embodiment of the present invention includes a main body and a main body support that supports the main body on the ground or a floor surface during movement, and the main body support The device includes a first rim portion and second rim portions disposed on the left and right sides so as to sandwich the main body portion between the first rim portion. Each of the first rim part and the second rim part extends in the front-back direction and includes a first hip joint part formed at one end side in the front-back direction and a second hip joint part formed at the other end side. a first leg portion connected to the rim body portion so as to be capable of internal rotation and external rotation via the first hip joint portion; and a second leg portion connected to be capable of internal rotation and external rotation through the rim portion, and the first rim portion and the second rim portion have a shaft portion provided along an axis extending in the left-right direction. are connected to each other through. In the moving body, the first leg extension line connecting the joint axis of the first hip joint and the center point of the tip of the first leg is the joint axis of the first hip joint and the joint axis of the second hip joint. The first leg opening angle is defined as the angle that opens outward with respect to the rim body extension line that connects the rim body, and the second leg extension line that connects the joint axis of the second hip joint and the center point of the tip of the second leg is A basic posture in which the first leg opening angle and the second leg opening angle are each set to predetermined angles, with the angle opening outward with respect to the rim main body extension line as the second leg opening angle; The leg opening angle is expanded compared to the basic posture, and the second leg opening angle is set to a larger angle than the first leg opening angle, so that the second leg opening angle is larger than the first leg opening angle. The riding position is switched to a riding position in which the center point of the tip is located further away from the center point of the tip of the first leg in the front-rear direction. In the riding position, the second hip joint is lower than the first hip joint.

According to one form of the present invention, the posture of the moving object is switched between the basic posture and the getting-on/off posture, and when getting on and off, the moving object is set in the getting-on/off posture, the second leg opening angle is expanded more than the first leg opening angle, and the second leg opening angle is expanded to be larger than the first leg opening angle. The legs are set in a posture in which they are stretched outward with respect to the rim body. As a result, the second hip joint is lower than the first hip joint, lowering the center of gravity of the entire moving body, ensuring stability of the moving body when getting on and off, and creating a condition where the occupant can easily board the main body. It becomes possible to do so.

FIG. 1 is a side view of a moving body according to an embodiment of the present invention. It is a side view which shows the same moving body as the above in the state which removed the left rim part. It is a side view of the main body support part with which the mobile body same as the above is equipped. It is a back view of the main body support part same as the above. FIG. 6 is an explanatory diagram showing the operation of the rim main body (swing displacement of the left rim part and the right rim part about the waist link axis). FIG. 3 is an explanatory diagram showing the motion of the legs (adduction and abduction of the hip joint, flexion and extension of the knee joint, and rotation of the leg). It is an explanatory view showing operation of a main part (swinging with respect to a main part support part). It is an explanatory view showing the posture (first getting on and off posture) which a mobile object can take when getting on and off. FIG. 6 is an explanatory diagram showing postures that the moving body can take when getting on and off (a first example of a second getting on and off posture). It is an explanatory view showing a posture (a second example of a second getting on and off posture) that a mobile object can take when getting on and off. It is an explanatory view showing an example of the posture which a mobile object can take when climbing up a step.

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 are side views showing a moving body M according to an embodiment of the present invention as seen from the left side (right side when viewed from the front) with respect to the traveling direction. FIG. 1 shows a state in which the left rim portion 2L is attached, and FIG. 2 shows a state in which the left rim portion 2L is removed.

1 and 2 show the front-back direction DL, the left-right direction DW, and the up-down direction DH of the moving body M, and the left-right direction in the plane of the paper is taken as the front-back direction DL of the moving body M. The longitudinal direction DL coincides with the moving direction of the moving body M when moving straight, and the left-right direction DW and the up-down direction DH of the moving body M are both perpendicular to the longitudinal direction DL. When the moving body M stands on a horizontal ground or floor surface, the front-rear direction DL and the left-right direction DW are defined in the horizontal direction, and the up-down direction DH is defined in the vertical direction.

The mobile object (hereinafter referred to as "multipurpose mobility" or simply "mobility") M according to this embodiment is used for transporting or moving people (hereinafter referred to as "occupants"). However, the present invention is not limited to this, and the main body 1 of the mobility M can be replaced and used for transporting cargo other than people.

Mobility M includes a main body part 1 and a main body support part 2.

The main body part 1 has a standing part 11 on which a passenger can board. The upright section 11 includes a seat 11a on which an occupant sits during movement, and the direction in which the occupant sitting on the seat 11a faces forward, that is, the left side in the plane of FIG. 1, is the front in the forward direction. In this embodiment, the seating area 11 is a so-called saddle-type seating area on which an occupant can sit in a straddling position.

In addition to the raised part 11 , the main body part 1 includes an operating part 12 and a detection part 13 , as well as a footrest 15 .

In the present embodiment, the operating section 12 is a handle-type operating section, and the occupant can increase or decrease the moving speed of the mobility M via the operating section 12 when moving by the wheels 23f and 23r (that is, when traveling). ), a braking force is generated via the wheels 23f and 23r as necessary.

The detection unit 13 includes a camera 131 and an acceleration sensor 132.

The camera 131 is a camera for forward monitoring, and is installed in the main body 1 at a position where the route in front of the mobility M can be included in the field of view. The camera 131 analyzes the captured image and detects information regarding the shape of the route, such as the width of the route, slope, level difference, and ups and downs (hereinafter referred to as "route information").

The acceleration sensor 132 is a six-axis inertial sensor (IMU) and detects translational acceleration along three mutually orthogonal axes and angular velocity around each of these three axes. The acceleration sensor 132 detects the longitudinal acceleration αL, the lateral acceleration αW, the vertical acceleration αH, the pitching angular velocity θp, the yawing angular velocity θy, and the rolling angular velocity θr of the moving body M based on these translational accelerations and angular velocities.

The footrest 15 is disposed below the upright portion 11, specifically, the seat 11a, and supports the feet of the occupant seated on the seat 11a when the mobility M moves. Here, for a human occupant, the term "foot" refers to the part of the occupant from the ankle to the toe, and is distinguished from the "leg," which is a body part extending downward from the torso or waist. Therefore, the footrest 15 can be said to support the occupant's legs with the feet or soles placed thereon.

In this embodiment, the footrest 15 includes a footrest 151 that forms a placing surface on which the occupant's feet are placed, and a footrest 151 that extends upward from the footrest 151 and connects to the raised part 11. A foot support support part 152 is provided. The foot rest part 151 and the foot rest support part 152 are both plate-shaped and are connected to each other in a T-shape when viewed from the rear as shown in FIG. 4 . That is, the footrest 15 has a T-shape as a whole when the mobility M is viewed from the rear. With respect to such a footrest 15, the occupant places his or her right leg or right foot on the right side of the footrest support section 152 and the left leg or left foot on the left side of the footrest support section 152 with respect to the forward direction of the mobility M. Place your feet on the. The strength and weight of the footrest 15 are optimized by forming a cutout that penetrates each of the footrest 151 and the footrest support 152 in the thickness direction.

As shown in FIG. 4, the footrest 15 is connected to the upright portion 11 so as to be movable in a rotational direction about an axis A6. Specifically, a shaft portion extending in the thickness direction is provided on each side of the front and back sides of the footrest support portion 152, and this shaft portion is provided in a bearing portion (not shown) provided concentrically with the shaft A6 in the raised portion 11. The shaft is rotatably attached. In this embodiment, the axis A6 is an axis parallel to the waist link axis A1 and is provided separately from the waist link axis A1. The footrest 15 can also be configured to be rotatable around the waist link axis A1 instead of the axis A6.

As shown in FIG. 7, the footrest 15 is movable between a first position P1 and a second position P2 in a rotational direction about an axis A6. The first position P1 is the position when the footrest 15 is displaced most forward in the forward direction of the mobility M, and the second position P2 is the position when the footrest 15 is displaced most backward.

The height of the footrest 15 relative to the seat 11a can be changed by displacement in the rotational direction about the axis A6. FIG. 7 shows the displacement angle θfr of the footrest 15 between the first position P1 and the second position P2. are shown respectively. The footrest 15' at the second position P2 has a higher relative height to the seat 11a than the footrest 15 at the first position P1, and is located relatively closer to the seat 11a.

As described later, the footrest 15 is set to the first position P1 when the mobility M is in the basic posture (FIG. 1) and the first getting on/off posture (FIG. 8), and when it is in the second getting on/off posture (FIG. 9). is set to the second position P2. When the footrest 15 is in the first position P1, the footrest 151 extends in parallel with the rim body 21, and a straight line connects the joint axis A2f of the front hip joint HJf and the joint axis A2r of the rear hip joint HJr. located parallel to On the other hand, in the second position P2, the foot rests 151 are inclined with respect to this straight line, and their rearward extension lines intersect with each other.

The main body 1 further includes a control section (not shown) and a power supply section such as a secondary battery or a fuel cell.

The control unit is composed of a microcomputer equipped with a central processing unit (CPU) and various storage devices such as ROM and RAM, and receives operation instruction signals input by the occupant via the operation unit 12 and receives signals from the detection unit 13. Detection signals from the camera 131 and the acceleration sensor 132 are received. The control section executes a predetermined calculation based on the operation instruction signal and the detection signal, and outputs the resultant drive command signal to various actuators provided in the movable section of the main body support section 2.

Here, the mobility M is provided with a power supply unit in the main body 1, so that when the main body 1 is attached, power is supplied and the mobility M becomes operable. When a secondary battery is used in the power supply section, the secondary battery can be charged by connecting it to an external power source while attached to the main body 1 or removed from the main body 1, or when the secondary battery is connected to the main body 1. It is possible to remove it from the battery and replace it with another charged secondary battery.

In this embodiment, the main body 1 can be replaced depending on the purpose. For example, instead of the straddle-type seating area 11, the main body 1 may include a chair-shaped seating area where the occupant can sit with his or her knees together, or a standing seating area where the occupant can ride while standing. It is possible to replace the main body with a main body. In addition to the above, the main body 1 can also be replaced with a main body that includes a loading platform on which luggage can be placed during transportation, or a main body that includes a stretcher that can transport a sick or injured person in a lying state. Like the main body section 1, each of these main body sections includes an operation section, a detection section, a control section, and a power supply section.

The main body support part 2 has front and rear leg parts 22f and 22r forming four limbs. The main body support part 2 stands by itself on the ground or floor surface by these legs 22f and 22r, and the main body part 1 is attached to support the main body part 1 on the ground or floor surface.

As shown in FIGS. 1 and 2, the main body support part 2 includes a rim part (hereinafter referred to as "left rim part") 2L located on the left side with respect to the forward direction of the mobility M, and a rim part (hereinafter referred to as "left rim part") located on the right side. (referred to as "right side rim part") 2R. The left rim part 2L and the right rim part 2R are arranged on the left and right sides of the main body part 1 so as to sandwich the main part 1 therebetween, and are aligned with each other around an axis A1 (hereinafter referred to as "waist link axis") extending in the left-right direction DW. Connected so that they can swing. Regarding this embodiment, the left rim part 2L corresponds to a "first rim part" and the right rim part 2R corresponds to a "second rim part".

3 is a side view showing the main body support part 2 as seen from the left side of the mobility M, and FIG. 4 is a rear view showing the main body support part 2 as seen from the rear of the mobility M. For reference, FIG. 4 schematically shows the main body portion 1 using a chain double-dashed line.

The main body part 1 has a shaft part 14 extending from the upright part 11 to the left and right sides (FIGS. 2 and 4). On the other hand, the left rim portion 2L and the right rim portion 2R each have a mounting portion 211 to which the shaft portion 14 can be attached. As shown in FIG. 4, by attaching the shaft portion 14 to the attachment portion 211, the main body portion 1 is supported by the left rim portion 2L and the right rim portion 2R.

FIG. 5 is an explanatory diagram showing the relative rocking motion between the left rim portion 2L and the right rim portion 2R. As shown in FIG. 5, the left rim portion 2L and the right rim portion 2R are swingable relative to each other about the waist link axis A1. Due to this rocking motion, the left rim portion 2L and the right rim portion 2R form an angle formed by the respective rim body portions 21, 21 in side view, specifically, the front and rear hip joint portions HJf of the left rim portion 2L, The angle formed by the straight line (hereinafter referred to as "rim body extension line") VL1 connecting the joint axes A2f and A2r of HJr and the rim body extension line VL1 of the right rim portion 2R in side view changes.

The left rim portion 2L and the right rim portion 2R have a configuration that is plane symmetrical to each other with respect to a plane perpendicular to the waist link axis A1. Therefore, the configurations of the left and right rim portions 2L and 2R will be explained using the left rim portion 2L as a representative. That is, the following description regarding the left rim portion 2L can be used as a description of the right rim portion 2R.

The left rim portion 2L includes a rim body portion 21, a front leg portion 22f, and a rear leg portion 22r.

The rim body portion 21 extends in the front-rear direction DL in the normal posture shown in FIGS. 1 and 3 (hereinafter referred to as the "basic posture"), and has a bent shape that is convex upward in a side view. In this embodiment, the rim main body portion 21 has a bent shape as a whole and has a bent portion near the center in the front-rear direction DL. The waist link axis A1 is disposed at this bent portion, deviates from the rim body extension line VL1, and is located above the rim body extension line VL1 in the basic posture. The rim body portion 21 includes a front beam portion 21f that extends forward with the waist link axis A1 as a boundary, and a rear beam portion 21r that extends rearward and is longer than the front beam portion 21f in the front-rear direction DL. That is, the longitudinal dimension Lf of the front beam-shaped portion 21f and the longitudinal dimension Lr of the rear beam-shaped portion 21r have the following relationship.
Lf<Lr…(1)

The rim body 21 has a front hip joint HJf at the tip of the front beam 21f (that is, the front end of the rim body 21), and a front hip joint HJf at the tip of the rear beam 21r (that is, the front end of the rim body 21). It has a rear hip joint HJr at its rear end (rear end). In other words, the rim main body portion 21 forms a link that connects the front and rear hip joint portions HJf and HJr. The front hip joint HJf and the rear hip joint HJr have hip joint axes A2f and A2r, respectively, extending in the left-right direction DW. In this embodiment, the joint axis A2f of the front hip joint HJf (hereinafter referred to as the "front hip joint axis") and the joint axis A2r of the rear hip joint HJr (hereinafter referred to as the "posterior hip joint axis") are connected to the lumbar link axis A1. parallel to the

The front leg portion 22f is connected to the rim body portion 21 via the front hip joint portion HJf, and is capable of internal rotation and external rotation relative to the rim body portion 21 about the front hip joint axis A2f. As shown in FIG. 6, the angle θ1 (θ1f) that a straight line VL2f connecting the front hip joint axis A2f and the front knee joint axis A3f (described later) (hereinafter referred to as "front leg upper thigh extension line") makes with the rim body extension line VL1 Rotation in the direction in which it narrows is called ``adduction,'' and conversely, rotation in the direction in which it widens is called ``abduction.'' The front leg 22f corresponds to the "first leg" according to this embodiment.

The rear leg portion 22r is connected to the rim body portion 21 via the rear hip joint portion HJr, and is capable of internal rotation and external rotation relative to the rim body portion 21 about the rear hip joint axis A2r. Similarly to the front leg portion 22f, the angle θ1 ( The rotation in the direction in which θ1r) narrows is called "adduction," and the rotation in the direction in which it widens is called "abduction," but the adduction and abduction of the rear leg 22r are opposite to that of the front leg 22f. It is a rotation of direction. The rear leg portion 22r corresponds to the "second leg" according to the present embodiment.

The front leg section 22f includes a front leg upper leg section 221f extending from the front hip joint section HJf, and a front leg lower leg section 222f connected to the front leg upper leg section 221f via the front knee joint section KJf so as to be able to bend and extend. Equipped with. Here, the straight line VL3f (hereinafter referred to as the "front leg lower leg extension line") connecting the joint axis A3f of the front knee joint part KJf (hereinafter referred to as the "front knee joint axis") and the later-described front wheel axis A4f is the front leg upper leg extension line. The rotation in the direction in which the angle θ2 (θ2f) made with respect to VL2f narrows is called "bending," and the rotation in the direction in which it widens is called "extension." The front knee joint axis A3f extends in the left-right direction DW in the basic posture, and is parallel to the lumbar link axis A1 and the front hip joint axis A2f. A front wheel 23f is attached to the tip of the front leg crus 222f, and the front wheel 23f forms a grounding point for the front leg 22f of the mobility M during movement. The front leg upper leg section 221f and the front leg lower leg section 222f correspond to the "first upper leg" and "first lower leg" according to the present embodiment, respectively, and the front wheel 23f corresponds to the "first lower leg" according to the present embodiment. Equivalent to "wheel".

The rear leg section 22r includes a rear leg upper leg section 221r extending from the rear hip joint section HJr, and a rear lower leg section connected to the rear leg upper leg section 221r via the rear knee joint section KJr so as to be able to bend and extend. A thigh portion 222r is provided. Similar to the front leg 22f, a straight line connecting the joint axis A3r of the rear knee joint KJr (hereinafter referred to as the "rear knee joint axis") and the rear wheel axis A4r described later (hereinafter referred to as the "rear leg lower leg extension line") The rotation in the direction in which the angle θ2 (θ2r) that VL3r makes with the rear leg upper thigh extension line VL2r narrows is called "flexion," and the rotation in the direction in which it widens is called "extension." The rear knee joint axis A3r extends in the left-right direction DW in the basic posture, and is parallel to the lumbar link axis A1 and the rear hip joint axis A2r. A rear wheel 23r is attached to the tip of the rear leg crus 222r, and the rear wheel 23r forms a grounding point for the rear leg 22r of the mobility M during movement. The rear leg upper leg 221r and the rear leg lower leg 222r correspond to the "second upper leg" and the "second lower leg" according to the present embodiment, respectively, and the rear wheel 23r corresponds to the "second lower leg" according to the present embodiment. This corresponds to the second wheel.

Mobility M is the vertical dimension from the central axis of the front wheel 23f (the wheel axis of the front wheel 23f, hereinafter referred to as "front wheel axis") A4f to the front hip joint axis A2f due to the movements of the front hip joint HJf and the front knee joint KJf. In other words, it is possible to change the height position Hf of the front hip joint HJf with respect to the grounding point of the front wheel 23f. On the other hand, the mobility M is caused by the movement of the rear hip joint HJr and the rear knee joint KJr, from the center axis of the rear wheel 23r (the wheel axis of the rear wheel 23r, hereinafter referred to as "rear wheel axis") A4r to the rear side. The vertical dimension up to the hip joint axis A2r can be changed, in other words, the height position Hr of the rear hip joint HJr relative to the grounding point of the rear wheel 23r can be changed. In this embodiment, the height position of the front hip joint axis A2f is taken as the height position Hf of the front hip joint part HJf, and the height position of the rear hip joint axis A2r is taken as the height position Hr of the rear hip joint part HJr. In the side view shown in FIG. 3, the front wheel axis A4f corresponds to the "center point of the tip of the first leg" and the rear wheel axis A4r corresponds to the "center point of the tip of the second leg."

In this embodiment, the front leg crus 222f and the rear leg crus 222r each have a non-linear shape, and have lower leg bending parts formed to deviate from the lower leg extension lines VL3f and VL3r. The front leg crus 222f and the rear leg crus 222r have a generally C-shape as a whole, with the knee joints KJf, KJr and wheels 23f, 23r connected via the crus flexures. The front leg lower leg portion 222f and the rear leg lower leg portion 222r may have a shape other than a C-shape, for example, an L-shape. The direction in which the lower leg flexion part deviates from the lower leg extension lines VL3f and VL3r is upward in the basic posture of the mobility M or outward in the front-rear direction DL, specifically, for the front leg 22f, it is forward in the forward direction and backward. The side legs 22r are at the rear.

In addition to the above, the mobility M includes movable parts 24f and 24r for rotational movement of the front and rear leg parts 22f and 22r, respectively. Specifically, the mobility M includes a front leg rotation part 24f for rotation of the front leg 22f, and a rear leg rotation part 24r for rotation of the rear leg 22r. The front leg rotation part 24f gives the front leg 22f a rotational movement about the front leg rotation axis A5f perpendicular to the front knee joint axis A3f, and the rear leg rotation part 24r A rotational movement is applied to the portion 22f around the rear leg rotational axis A5r that intersects perpendicularly to the rear knee joint axis A3r.

FIG. 6 is an explanatory diagram showing internal and external rotation movements of the hip joints HJf and HJr, flexion and extension movements of the knee joints KJf and KJr, and rotational movements of the legs 22f and 22r.

The front leg portion 22f of the left rim portion 2L will be described with reference to FIG. 6. The front leg portion 22f can be internally and externally rotated about its joint axis A2f by the front hip joint HJf. In the front leg portion 22f, due to this movement, the angle θ1f that the front leg upper thigh extension line VL2f makes with the rim body extension line VL1 (FIG. 5) changes. If we look at this as a whole of the front leg 22f, the angle that the front leg 22f makes with the rim body 21, specifically, the straight line connecting the front hip joint axis A2f and the front wheel axis A4f (hereinafter referred to as the "front leg extension line"). The angle θ3 (θ3f) formed by VL4f (hereinafter referred to as "front leg opening angle") with respect to the rim body extension line VL1 changes. The front leg extension line VL4f corresponds to the "first leg extension line" according to the present embodiment, and the front leg opening angle θ3f corresponds to the "first leg opening angle" according to the present embodiment.

The front leg 22f can be bent and extended about the joint axis A3f by the front knee joint KJf. Due to this movement, the front leg portion 22f changes the angle that the front leg lower leg portion 222f makes with the front leg upper leg portion 221f, specifically, the angle that the front leg lower leg extension line VL3f makes with the front leg upper leg extension line VL2f. θ2f changes.

The front leg portion 22f is capable of rotation, specifically internal and external rotation, about its rotation axis A5f by the front leg rotation portion 24f. In the basic posture shown in FIGS. 1 and 3, rotation in a direction that brings the crus flexion of the front leg lower leg 222f closer to the center of the main body support section 2 in the left-right direction DW is called internal rotation. Rotation in the direction away from the body is called external rotation. In other words, the internal rotation of the front leg 22f causes the front wheel 23f to move toward the center of the main body support portion 2, and the external rotation causes the front wheel 23f to move away from the center. Due to this movement, the front leg 22f changes the direction of the front lower leg 222f with respect to the rim body 21, in other words, the front knee joint axis A3f changes with respect to the front hip joint axis A2f in a plan view of the mobility M from above. The angle formed changes. By rotating the front leg portion 22f, the traveling direction of the mobility M can be changed both when moving using the legs 22f and 22r and when traveling using the wheels 23f and 23r. In other words, the steering of the mobility M during running using the wheels 23f and 23r is based on the operation of the front leg rotation section 24f.

The same applies to the rear leg 22r, and the rear leg 22r can be internally and externally rotated about its joint axis A2r by the rear hip joint HJr. Due to this movement, the angle θ1r that the rear leg upper leg extension line VL2f makes with the rim main body extension line VL1 (FIG. 5) changes, and the rear leg 22r changes with respect to the rim main body 21. Specifically, the angle formed by the straight line VL4r connecting the rear hip joint axis A2r and the rear wheel axis A4r (hereinafter referred to as "rear leg extension line") with respect to the rim body extension line VL1 (hereinafter referred to as "rear leg extension line") θ3r (referred to as "leg opening angle") changes. The rear leg extension line VL4r corresponds to the "second leg extension line" according to the present embodiment, and the rear leg opening angle θ3r corresponds to the "second leg opening angle" according to the present embodiment.

The rear leg 22r is further able to bend and extend around its joint axis A3r by the rear knee joint KJr. Due to this movement, the rear leg portion 22r changes the angle that the rear leg lower leg portion 222r makes with the rear leg upper thigh portion 221r, specifically, the rear leg lower leg extension line VL3r makes with respect to the rear leg upper leg extension line VL2r. The bent angle changes. The rear leg portion 22r can rotate around its rotation axis A5r, specifically, can rotate internally and externally by the rear leg rotation portion 24r. Due to this movement, the rear leg portion 22r changes the direction of the rear leg lower leg portion 222r with respect to the rim body portion 21, in other words, the rear knee joint axis A3r changes from the rear hip joint axis A2r in a plan view of the mobility M from above. The angle made with respect to the object changes.

In this embodiment, the front leg rotation part 24f and the rear leg rotation part 24r are arranged adjacent to the front and rear knee joints KJf and KJr, respectively, and the directions of the front leg lower leg part 222f and the rear leg lower leg part 222r are adjusted. However, the front leg rotation part 24f can be moved away from the front knee joint KJf and placed closer to the front hip joint HJf than the front knee joint KJf, or the rear leg rotation part 24r can be moved away from the front knee joint KJf. It may be arranged at a position closer to the rear hip joint HJr than the rear knee joint KJr. As a result, parts of the front leg 22f and the rear leg 22r that are closer to the whole can be rotated with respect to the rim body 21, and the hip joints HJf, HJr and the leg rotation part 24f in the front and rear legs 22f and 22r, respectively. , 24r, it is possible to realize a motion closer to that of an actual hip joint.

Furthermore, the leg rotation parts 24f, 24r and the knee joint parts KJf, KJr can also be arranged with their vertical arrangement reversed. Specifically, the front knee joint KJf is placed on the upper side, that is, on one side closer to the front hip joint HJf, the front leg rotation part 24f is placed on the lower side, that is, on the other side closer to the front wheel 23f, and the rear knee joint The part KJr is arranged on the upper side, that is, on one side near the rear hip joint part HJr, and the rear leg rotation part 24r is arranged on the lower side, that is, on the other side near the rear wheel 23r.

The above description of the left rim portion 2L also applies to the front and rear leg portions 22f and 22r of the right rim portion 2R.

FIG. 7 is an explanatory diagram showing the rocking movement of the main body part 1 with respect to the main body support part 2.

In addition to the degrees of freedom set for the main body support part 2, the mobility M has an additional degree of freedom set for the main body part 1. Specifically, the main body portion 1 is swingable around the central axis of the shaft portion 14 with respect to the main body support portion 2 . In other words, the main body 1 can be tilted forward or backward with respect to the horizontal position. In this embodiment, the shaft portion 14 is disposed concentrically with the waist link axis A1 of the main body support portion 2, and its central axis coincides with the waist link axis A1, so that the main body portion 1 has a lower waist portion than the main body support portion 2. It is in a state where it can swing around the link axis A1. In other words, the central axis when the main body part 1 swings relative to the main body support part 2 matches the central axis when the left rim part 2L and the right rim part 2R swing relative to each other. .

In this way, the mobility M according to the present embodiment has a total of 14 degrees of freedom as the degrees of freedom of the movable parts related to changes in its posture. However, this is the freedom when the rocking movement of the main body part 1 with respect to the main body support part 2 and the relative rocking movement between the left rim part 2L and the right rim part 2R are conceptually different movements. It is the number of degrees. Here, the arrangement of the actuators ACT (ACT1 to ACT3, ACT5) that provide these 14 degrees of freedom will be explained with reference to FIGS. 3 and 4. 3 and 4 schematically show the position of the actuator ACT by hatching the two-dot chain frame. In this embodiment, the actuators ACT are both realized by electric motors.

The mobility M includes seven drive motors ACT1 to ACT3 and ACT5 as the actuators ACT in the left rim portion 2L and the right rim portion 2R, respectively.

The first drive motor ACT1 is built into the casings of the left and right rim body parts 21 in which mounting parts 211 for attaching the shaft part 14 are provided, and drives the swinging motion of the rim body part 21 about the waist link axis A1. Give. The first drive motor ACT1 provided on the left rim portion 2L and the first drive motor ACT1 provided on the right rim portion 2R cooperate to realize relative rocking motion between the left rim portion 2L and the right rim portion 2R. At the same time, it is possible to realize a rocking motion of the main body part 1 with respect to the main body support part 2.

The second drive motors ACT2f, ACT2r are built into the casing of the rim body 21 at the front and rear ends of the rim body 21 to which the front and rear hip joints HJf, HJr are attached, respectively, and are centered around the hip joint axes A2f, A2r. The front and rear legs 22f, 22r are given internal rotation and external rotation motion.

The third drive motors ACT3f, ACT3r are built into the housings of the front and rear knee joints KJf, KJr, and provide bending and extension movements of the front and rear legs 22f, 22r, respectively, about the knee joint axes A3f, A3r. .

The fifth drive motors ACT5f and ACT5r are built into the housings of the front and rear leg rotation parts 24f and 24r, and drive the internal and external rotation movements of the front and rear legs 22f and 22r, respectively, about the leg rotation axes A5f and A5r. Give.

The above seven electric motors (14 in total if the electric motors provided on the left and right rim parts 2L and 2R are counted separately) are equipped with reduction gears and drive the respective movable parts when the posture of the mobility M changes. At the same time, it is possible to form a holding torque that maintains the position of the movable part after changing the posture, that is, the rotation angle of the electric motor after the change. In addition to or in place of the torque formation, a locking mechanism may be provided on the movable part, and the position of the movable part depending on the posture of the mobility M may be maintained by this locking mechanism.

In addition to the above, the mobility M includes fourth electric motors ACT4f, ACT4r, and a sixth electric motor ACT6. The fourth electric motors ACT4f and ACT4r rotationally drive the traveling wheels (front wheels 23f and 23r), and generate a regenerative braking force in the wheels. The sixth electric motor ACT6 is provided in the main body 1 and transmits rotational power to the footrest 15. A reduction gear train is interposed between the sixth electric motor ACT6 and the footrest 15, and the rotational power generated by the sixth electric motor ACT6 can be transmitted to the footrest 15 at an appropriate reduction ratio via this gear train. be.

Specific examples of postures that can be realized by the mobility M will be described below.

In addition to the basic postures shown in FIGS. 1 and 3, the mobility M can realize a first riding posture shown in FIG. 8 and a second riding posture shown in FIG. 9. The mobility M can appropriately switch between a basic posture, a first getting on/off posture, and a second getting on/off posture depending on the situation. Here, the basic posture corresponds to the "basic posture" according to the present embodiment, and the second getting on/off posture corresponds to the "getting on/off posture" according to the present embodiment.

The basic attitude is suitable as an attitude that the mobility M takes when moving or waiting before running, and is also suitable as an attitude that the mobility M takes when traveling by the wheels 23f and 23r. In the basic posture, the left rim portion 2L and the right rim portion 2r are in a state of plane symmetry. In other words, there is no relative rocking displacement between the left rim part 2L and the right rim part 2R, and the left rim part 2L and the right rim part 2R are at the same position in the rotational direction around the waist link axis A1. be. The waist link axis A1, the front and rear hip joints HJf and HJr joint axes A2f and A2r, the front and rear knee joints KJf and KJr joint axes A3f and A3r, and the wheel axes A4f and A4r of the front wheel 23f and rear wheel 23r are as follows: They are parallel to each other, parallel to the ground or floor surface on which the wheels 23f and 23r touch, and perpendicular to the forward direction of the mobility M.

In the basic posture, the rotation angles of the hip joints HJf and HJr are set in the front and rear legs 22f and 22r, so that the upper thighs 221f and 221r incline inward and approach the rim body 21, and the front and rear wheels The rotation angles of the knee joints KJf and KJr are set so that the knees 23f and 23r are located further outward than the knee joints KJf and KJr. Here, the front wheel axis A4f is located forward of the extension line of the front leg rotation axis A5f, and the rear wheel axis A4r is located rearward of the extension line of the rear leg rotation axis A5r.

With such a setting, in the basic posture, the angles that the front and rear legs 22f and 22r make with respect to the rim body 21, that is, the front leg opening angle θ3f and the rear leg opening angle θ3r, are respectively set to the predetermined first The angles are set to θa1 and θa2. The front leg opening angle θ3f and the rear leg opening angle θ3r are angles formed by the front leg extension line VL4f and the rear leg extension line VL4r, respectively, with respect to the rim body extension line VL1. In this embodiment, the first angles θa1 and θa2 are both larger than 90°.

The first angles θa1 and θa2 may be equal to each other or may be different angles. For example, by setting the first angles θa1 and θa2 to be equal to each other, the rim body extension line VL1 is positioned horizontally, and the front hip joint HJf and the rear hip joint HJr are set to the same height positions Hf1 and Hr1. It is possible to do so (Figure 3). Further, due to the difference in the longitudinal dimensions Lf and Lr between the front beam portion 21f and the rear beam portion 21r, the rear hip joint HJr is set at a lower height position Hr1 (<Hf1) than the front hip joint HJf. In this case, it is possible to set the first angle θa2 (<θa1) for the rear leg 22r to be smaller than that for the front leg 22f.

In the basic position, the seat 11a provided in the main body 1 is set horizontally at a height suitable for the moving occupant. This height is higher than the height of any seat 11a in the first getting on/off position and the second getting on/off position, which will be described later. The distance between the front wheel 23f and the rear wheel 23r in the basic posture, that is, the wheelbase L1 of the mobility M, is set to a predetermined first distance, and the first distance is the distance between the front hip joint axis A2f and the rear hip joint axis A2r. It is longer than the directional distance (=Lf+Lr), for example, 1100 mm.

On the other hand, the first getting on and off posture shown in FIG. 8 is suitable as a posture taken when the occupant gets on and off the mobility M. In the first getting on/off position, while maintaining the left rim part 2L and right rim part 2R in the same position with respect to the basic position, the upper thigh parts 221f and 221r are connected to the rim body in the front and rear legs 22f and 22r, respectively. The inward rotation angle (i.e., adduction angle) of the hip joints HJf, HJr is adjusted such that the upper thighs 221f, 221r and the lower legs 222f, 222r move closer to each other. , and the outward rotation angle (that is, the bending angle) of the knee joints KJf and KJr. In other words, the angles θ1f and θ1r that the upper leg extension lines VL2f and VL2r make with the rim body extension line VL1 are narrowed, and the angle θ2f that the lower leg extension lines VL3f and VL3r make with the upper leg extension line VL2f and VL2r, Reduce θ2r. The first getting on/off position can also be called a crouching position due to its appearance.

With such settings, in the first getting on/off posture, the front leg opening angle θ3f and the rear leg opening angle θ3r are set to predetermined second angles θb1 and θb2, respectively. The second angles θb1 and θb2 are both larger than 90°, but smaller than the first angles θa1 and θa2. However, the second angles θb1, θb2 may be larger than the first angles θa1, θa2 depending on the relationship between the adduction angles of the hip joints HJf, HJr and the bending angles of the knee joints KJf, KJr. Similar to the first angles θa1 and θa2, the second angles θb1 and θb2 may be equal to each other or may be different angles.

In the first getting on/off posture, the position of the waist link axis A1 is lower than the basic posture, and the seat 11a provided in the main body 1 is set at a lower position than the basic posture while maintaining the horizontal position LVh. The wheelbase L1 in the first getting on/off position is set to a predetermined second distance that is shorter than the first distance. The second distance is, for example, 1000 millimeters. The mobility M assumes the first getting on and off attitude not only when getting on and off, but also when its power is cut off and the power supply to the actuator ACT is stopped.

Furthermore, the second getting on/off posture shown in FIG. 9 is a variation of the posture that the occupant can take when getting on/off the mobility M. When getting on and off the vehicle, the occupant can selectively set a first getting on/off position and a second getting on/off position. The second getting on and off posture maintains the rotation angle of the front hip joint HJf and the front knee joint KJf in the front leg 22f with respect to the first getting on and off posture, and maintains the rotation angle of the front hip joint HJf and the front knee joint KJf, and the rim main body extension line VL1, the front leg upper thigh extension line VL2f, and the front While maintaining the relative positional relationship between the leg and lower leg extension lines VL3f, in the rear leg 22r, by widening the rear hip joint HJr outward, the rear leg opening angle θ3r is widened, and the rear This can be achieved by rotating or extending the side knee joint KJr inward to increase the angle θ2r that the rear leg lower leg extension line VL3r makes with the rear leg upper leg extension line VL2r. The second getting on/off position can also be called a stretched position due to its appearance.

With such settings, in the second getting on/off posture, the rear leg opening angle θ3r is expanded compared to the basic posture (that is, the first angle θa2), and the rear leg opening angle θ3r is larger than the front leg opening angle θ3f. It is set to a large angle (θ3f<θ3r). The rear leg opening angle θ3r in the second getting on/off posture is larger than 180°.

In the second getting on/off posture, the rear wheel 23r is located farther away from the rear hip joint HJr in the front-rear direction DL (that is, backward) than in the first getting on/off posture. It is located further away from the front wheel 23f in the longitudinal direction DL. In other words, in the second getting on/off posture, the distance in the longitudinal direction between the rear hip joint axis A2r and the rear wheel axis A4r is longer than the distance in the longitudinal direction between the front hip joint axis A2f and the front wheel axis A4f. Then, the position of the rear hip joint HJr becomes lower than the front hip joint HJf, and the rim main body 21 tilts rearward so that the main body 1 looks diagonally upward in the front, and the lumbar link axis A1 and the main body 1 The seat 11a provided is set at a lower position than the first getting on/off position. FIG. 9 shows the inclination angle θel1 of the main body 1 with respect to the horizontal position LVh. The wheelbase L1 in the second getting on/off position is set to a predetermined third distance that is longer than either the first distance or the second distance. The third distance is, for example, 1430 millimeters. In this embodiment, the rear hip joint HJr is lowered to a position where it contacts the ground or floor surface, and the rear hip joint HJr and the rear wheel 23r are aligned at approximately the same height position Hr3. In this case, the mobility M contacts the ground at a total of six points: the left and right front wheels 23f, the left and right rear wheels 23r, and the left and right rear hip joints HJr.

In addition to the above, in the second getting on/off posture, the footrest 15 is displaced from the first position P1 in the basic posture and the first getting on/off posture to the second position P2 (FIG. 7), and the relative height of the footrest 15 with respect to the seat 11a is increased. . As a result, the footrest 15 is in a state in which the footrest 151 is inclined with respect to the seating surface of the seat 11a and the rim body extension line VL1, and is positioned parallel to the ground or floor surface.

The mobility M according to this embodiment has the above configuration. The effects obtained by this embodiment will be explained below.

The posture of the mobility M can be switched between the basic posture and the second getting on/off posture, and when moving, the mobility M is the basic posture, and when getting on and off, the mobility M is the second getting on/off posture, and the rear leg opening angle θ3r is set to the front side. The leg opening angle is set to be larger than the angle θ3f, and the rear leg portion 22r is set in a posture extending outward with respect to the rim body portion 21.

Specifically, when moving, the mobility M is used as a basic posture and is supported by the front hip joint HJf and the rear hip joint HJr of the left and right rim parts 2L and 2R, that is, the left rim part 2L and the right rim part 2R. The main body part 1 is held at a relatively high position. This makes it possible to ensure the visibility of the occupant during movement and to ensure the degree of freedom of movement of the front leg portion 22f and the rear leg portion 22r.

On the other hand, when getting on and off, the mobility M is set to the second getting on and off posture, and the front leg 22f is bent deeply inward toward the other end, that is, in the front-rear direction DL with respect to the main body 1, so that the front hip joint HJf The position of the rear hip joint HJr is lowered by lowering the position of the rear hip joint HJr by extending the rear leg part 22r to the other end side, that is, outwardly away from the main body part 1 in the front-rear direction DL. Place part 1 at a lower position than the basic posture. This makes it possible to lower the center of gravity of the entire mobility M and create a state in which the occupant can easily board the main body portion 1 while ensuring stability of the mobility M when getting on and off.

In this way, according to the present embodiment, it is possible to provide a mobility M that can realize more diverse postures, is easy to get on and off, and has high stability when getting on and off.

Here, in the present embodiment, in the second getting on/off posture shown in FIG. The distance is set shorter than the distance L3 defined in the front-rear direction DL between the waist link axis A1 and the rear hip joint axis A2r. Furthermore, in the second getting on/off posture, the distance L2 is set shorter than the distance L4 defined in the longitudinal direction DL between the waist link axis A1 and the front wheel axis A4f.

The relationship between the distances L2, L3, and L4 is not limited to this, and it is also possible to set the distance L2 longer than the distance L3, or set the distance L2 longer than the distance L4. FIG. 10 shows the posture that the mobility M can take when the distance L2 is set to be longer than either of the distances L3 and L4. In this embodiment, the posture shown in FIG. 10 is a modification of the second getting on/off posture. When getting on and off, the occupant can select the first getting on and off posture shown in FIG. 8 and the second getting on and off posture, and can select the posture shown in FIG. 10 (hereinafter referred to as "second stretched posture") can be selected as appropriate.

In the second extension posture, in the front leg 22f, the rotation angle of the front hip joint HJf is maintained, and the front knee joint KJf is rotated inwardly, that is, extended, and the front lower leg is The angle θ2f that the stretched line VL3f makes with the front upper leg stretched line VL2f is increased, and the rotation angle of the rear hip joint HJr is maintained in the rear leg 22r, and the rear knee joint KJr is moved outward. This can be achieved by rotating, that is, bending, the angle θ2r that the rear lower leg extension line VL3r makes with the rear upper leg extension line VL2r.

With such settings, in the second extended posture, the rear leg opening angle θ3r maintains the angle in the first extended posture, while the front leg opening angle θ3f is reduced compared to the first extended posture.

In the second stretched posture, compared to the first stretched posture, the front wheel 23f moves slightly rearward and approaches the front-back direction DL with respect to the front hip joint HJf, while the rear wheel 23r moves in the front-back direction DL from the rear hip joint HJr. located further away (i.e., to the rear). As a result, the rear hip joint HJr maintains the height position Hr4 (=Hr3) in the first extension posture, while the front hip joint HJf rises above the first extension posture, and the height of the front hip joint HJf increases. The difference (that is, the height difference) between the position Hf4 and the height position Hr4 of the rear hip joint HJr increases, and the angle at which the main body 1 looks diagonally upward and forward increases. FIG. 10 shows the inclination angle θel2 (>θel1) of the main body 1 with respect to the horizontal position LVh. In other words, in the second extended position, the main body 1 is tilted more rearward than in the first extended position, and the seat 11a provided in the main body 1 is further tilted rearward than in the first extended position. In this embodiment, the footrest 15 is further rotated in accordance with the inclination of the main body 1 in the second extended position, and the footrest 151 is maintained parallel to the ground or floor surface.

Here, in the second stretching posture, the rim main body portion 21 is in a slightly erect state with the rear hip joint HJr as the base point, and the lumbar link axis A1 and the main body portion 1 are in the first stretching posture. It rises relative to the posture. Focusing on the relationship between the lumbar link axis A1 and the front hip joint axis A2f, the front hip joint axis A2f is located below the lumbar link axis A1 in the first stretched posture, while the lumbar link axis A1 in the second stretched posture. located above.

The wheel base L1 in the second extended position is set to a distance slightly longer than the wheel base in the first extended position, that is, the third distance. In the second extended posture, a distance L2 defined in the longitudinal direction DL between the rear hip joint axis A2r and the rear wheel axis A4r is defined in the longitudinal direction DL between the lumbar link axis A1 and the rear hip joint axis A2r. The distance L3 is set longer than the distance L3 defined in the longitudinal direction DL between the waist link axis A1 and the front wheel axis A4f.

In this way, in the second getting on/off posture (second extension posture), the distance L2 between the rear hip joint axis A2r and the rear wheel axis A4r is set to be longer than the distance L3 between the lumbar link axis A1 and the rear hip joint axis A2r. Thus, the space between the rear leg portions 22r provided on the left and right rim portions 2L, 2R can be made longer in the front-rear direction DL than the space between the rear beam-like portions 21r. As a result, when boarding the mobility M in the second extended position, the space between the left and right rear legs 22r can be used as a guideway, making it possible to create a sense of security for the occupants. Become.

Furthermore, the moment that the shaft part 14 receives in the rotational direction via the raised part 11 when getting on and off is well supported by the rear wheels 23r located further away from the main body part 1, thereby improving the stability of the mobility M when getting on and off. It becomes possible to aim for improvement.

Then, by setting the distance L2 to be longer than the distance L4 between the waist link axis A1 and the front wheel axis A4f, the rim main body 21 is made to stand up slightly from the first extended posture with the rear hip joint HJr as the base point, It becomes possible to tilt the main body part 1 more rearward. As a result, in addition to the stability of the mobility M, it becomes easier to get on and off the mobility M, thereby improving convenience.

Furthermore, in the second getting on/off position, it is possible to support the mobility M with respect to the ground or floor surface at a total of six points, including the front and rear wheels 23f and 23r, and the left and right rim body parts 21 (rear hip joint HJr). Therefore, it is possible to further improve the stability of the mobility M when getting on and off.

FIG. 11 is an explanatory diagram showing an example of a posture that the mobility M can take when climbing a step S (for example, a staircase). FIG. 11(a) shows the posture of the entire mobility M, and FIG. 11(b) shows the lumbar link axis A1 of the left and right rim parts 2L, 2R, the front hip joint axis A2f, A2f', and the rear hip joint axis A2r, A2r. ' is schematically shown.

Mobility M sets the heights of the front and rear hip joints HJf and HJr to maintain the lumbar link axis A1 horizontally at a predetermined height when climbing up the step S. In the illustrated example, in order to maintain the lumbar link axis A1 at a predetermined height, the front hip joint axis A2f of the left rim part 2L is set at a lower position than the front hip joint axis A2f' of the right rim part 2R, and the left rim part The rear hip joint axis A2r of the 2L is set at a higher position than the rear hip joint axis A2r' of the right rim portion 2R.

Along with this, in order to prevent the situation where the posture of the mobility M becomes unstable due to the difference in the height of the left and right hip joints HJf and HJr, the left rim part 2L and the right rim part 2R are adjusted by setting the rim body swing angle. This difference in height between the hip joints HJf and HJr is absorbed by creating a relative rocking displacement between them.

The positions of the front leg part 22f and the rear leg part 22r of the left and right rim parts 2L, 2R, that is, the rotation angles of the front and rear hip joint parts HJf, HJr and knee joint parts KJf, KJr, are as follows for the front leg part 22f. The rear leg portion 22r can be set based on the heights of the hip joint axes A2f, A2f', and the height of the rear hip joint axes A2r, A2r'.

Furthermore, if the main body 1 tilts forward or backward under the set heights of the front hip joint axes A2f, A2f' and the rear hip joint axes A2r, A2r', the lumbar link axis A1 is The main body 1 is swung backwards or forwards to maintain the orientation of the main body 1 horizontally. In the present embodiment, the main body 1 can be rocked by rotating the first drive motors ACT1 provided in the left and right rims 2L and 2R in the same front and rear directions by the same angle.

In this embodiment, the beam-like part on one end side of the rim main body part 21 which is in the shape of a square is arranged as the front beam-like part 21f, which is shorter in the front-rear direction DL, and is arranged on the front side in the forward direction of the mobility M. The beam-like part on the other end side which is long in the direction DL is arranged as the rear-side beam-like part 21r on the rear side in the forward direction. In other words, the front beam portion 21f is arranged to precede the rear beam portion 21r when moving forward, and the rear beam portion 21r is arranged to precede the front beam portion 21f when moving backward.

The forward direction of the mobility M is not limited to this. When moving forward, the beam portion 21r on the other end side that is long in the front-rear direction DL precedes the beam portion 21f on the end side, and when moving backward, the beam portion 21r on the one end side that is short in the front-rear direction DL. The direction in which the shaped portion 21f precedes the beam-shaped portion 21r on the other end side may be sufficient. Accordingly, when the main body part 1 is provided with the raised part 11, the orientation of the raised part 11 is also reversed so that the occupant riding on the raised part 11 can move the hip joint part (rear hip joint part HJr) on the other end side forward. Place it so that it looks like this.

An example of the main body in which the beam-shaped portion 21r on the other end side precedes when the vehicle moves forward is a main body that includes a chair-shaped upright portion on which an occupant can sit with his or her knees together. In this case, the raised portion is arranged between the beam-like portions 21r provided on the other end sides of the left and right rim portions 2L and 2R, respectively. The occupant approaches the mobility M, which is in the second getting on/off position, from the front and sits on it. At this time, the space between the left and right rear legs 22r, 22r, which are extended forward, functions as a guide path for the occupant.

In this embodiment, in order to change and adjust the heights of the tip and rear ends of the rim body 21, that is, the front and rear hip joints HJf, HJr, in addition to the hip joints HJf, HJr, the knee joint KJf, KJr was used to form rotational joints in the front and rear legs 22f and 22r, respectively. The change and adjustment of the height is not limited to this, and can also be realized by forming a prismatic joint in place of or in conjunction with the knee joints KJf and KJr.

M... moving body, 1... main body part, 11... standing part, 11a... seat, 12... operation part, 13... detection part, 131... camera, 132... acceleration sensor, 15... footrest, 2... main body support part, 2L... Left rim part, 2R... Right rim part, 21... Rim body part, 22f... Front leg part, 22r... Rear leg part, 221f... Front leg upper leg part, 221r... Rear leg upper leg part, 222f... Front leg lower leg part. , 222r...rear leg lower leg, 23f...front wheel, 23r...rear wheel, HJf...front hip joint, HJr...rear hip joint, KJf...front knee joint, KJr...rear knee joint, A1...lumbar link axis , A2f...front hip joint axis, A2r...rear hip joint axis, A3f...front knee joint axis, A3r...rear knee joint axis, A4f...front wheel axis, A4r...rear wheel axis, A5f...front leg rotation axis, A5r...rear side Leg rotation axis.

Claims (9)

The main body and
A main body support part that supports the main body part on the ground or floor surface during movement,
The main body support part is
a first rim portion;
a second rim portion disposed on the left and right so as to sandwich the main body portion between the first rim portion;
Each of the first rim part and the second rim part is
a rim body extending in the front-rear direction and having a first hip joint part formed on one end side in the front-rear direction and a second hip joint part formed on the other end side;
a first leg portion connected to the rim main body portion via the first hip joint portion so as to be capable of internal rotation and external rotation;
a second leg portion connected to the rim main body portion via the second hip joint portion so as to be capable of internal rotation and external rotation;
The first rim part and the second rim part are connected to each other via a shaft part provided along an axis extending in the left-right direction,
A rim body in which a first leg extension line connecting the joint axis of the first hip joint and the center point of the tip of the first leg connects the joint axis of the first hip joint and the joint axis of the second hip joint. The angle that opens outward with respect to the extension line is defined as a first leg opening angle, and the second leg extension line that connects the joint axis of the second hip joint and the center point of the tip of the second leg is the extension of the rim body. The angle that opens outward with respect to the line is the second leg opening angle,
a basic posture in which the first leg opening angle and the second leg opening angle are each set to a predetermined angle;
The second leg opening angle is enlarged compared to the basic posture, and the second leg opening angle is set to a larger angle than the first leg opening angle, and the second leg opening angle is set to be larger than the first leg opening angle. A movement that is switched to a riding/dismounting posture in which the center point of the tip of the leg is located further away from the center point of the tip of the first leg in the front-rear direction, and the second hip joint is lower than the first hip joint. body. The movable body according to claim 1, wherein the second leg opening angle is larger than 180° in the getting on/off posture. In the riding posture, the distance defined in the front-rear direction between the joint axis of the second hip joint and the center point of the tip of the second leg is equal to the distance between the axis extending in the left-right direction and the joint axis of the second hip joint. The moving body according to claim 1, wherein the moving body is longer than the distance defined in the front-rear direction between the two. In the getting-on/off posture, the distance defined in the front-rear direction between the joint axis of the second hip joint and the center point of the tip of the second leg is the distance between the axis extending in the left-right direction and the center of the tip of the first leg. The moving body according to claim 1, wherein the moving body is longer than a distance determined in the front-rear direction between the points. The moving body according to claim 1, wherein the second hip joint of the rim main body comes into contact with the ground or floor surface in the getting on/off posture. The moving body according to any one of claims 1 to 5, wherein the first rim part and the second rim part are coupled to each other so as to be swingable about an axis extending in the left-right direction. The moving body according to any one of claims 1 to 5, wherein the rim main body portion has a bent shape that is upwardly convex in a side view when the moving body is viewed from either the left or right side. The movable body according to any one of claims 1 to 5, wherein the main body is supported to be swingable about the shaft extending in the left-right direction with respect to the shaft. The first leg portion is
a first upper leg extending from the first hip joint;
A first lower leg part is connected to the first upper leg part via a first knee joint part so as to be bendable and extendable, and is attached with a first wheel that contacts the ground or floor surface during movement. ,
The second leg portion is
a second upper leg extending from the second hip joint;
A second lower leg part is connected to the second upper leg part via a second knee joint part so as to be bendable and extendable, and a second lower leg part is attached with a second wheel that contacts the ground or floor surface during movement. ,
The first leg is capable of changing the height position of the first hip joint by movements including bending and extension of the first knee joint,
The second leg is capable of changing the height position of the second hip joint by a movement including bending and extension of the second knee joint,
In the basic posture, the first knee joint is located closer to the main body than the first hip joint in the front-rear direction, and the second knee joint is located closer to the body than the second hip joint. The second knee joint is located on the inner side approaching the main body in the front-rear direction, and in the getting-on/off position, at least the second knee joint is located on the outer side farther away from the main body in the front-rear direction than the second hip joint. The moving body according to any one of claims 1 to 5.

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