JP3747314B2 - Electric mobile vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
This invention is a kind of electric vehicle powered by a storage battery, mainly indoors in medical institutions and welfare facilities, carrying elderly people, wheelchair users and various transported goods, moving at low speeds in halls and corridors, indoors It is related with the vehicle which gets into each room and the inside of an elevator, and helps movement.
[0002]
[Prior art]
As an aging society progresses, the number of people using medical institutions and welfare facilities increases, and the proportion of elderly and wheelchair users among those users increases. Increase in size is progressing. Under such circumstances, in medical institutions and welfare facilities, elderly people, wheelchair users, and various vehicles are placed on the medical institutions and welfare facilities to easily move at low speeds and to help them move. There will be no moving vehicle that works well in response to that expectation.
[0003]
[Problems to be solved by the invention]
In view of such a current situation, the present invention drastically improves an electric vehicle equipped with a storage battery that has already been put into practical use, and is easy for elderly people and wheelchair users in building structures of actual medical institutions and welfare facilities. It is easy to load and unload various types of luggage. An electric mobile vehicle is to be constructed.
[0004]
In this type of mobile vehicle, the following requirements are considered particularly desirable. The floor height of the moving vehicle is low.
Because the corridor is not wide enough, the direction of travel can be reversed without making a U-turn.
Since the travel path is not wide enough, it can be moved to the right and left, and can be laid out and widened in place.
The service floor area should be widened while the floor area of moving vehicles is limited.
The moving vehicle itself can use the elevator.
The present invention meets the above requirements and problems. In this application, the “service floor surface” is a floor surface on the vehicle body base that can be occupied on the vehicle body base by people who receive a movement service or luggage on the electric vehicle.
[0005]
[Means for Solving the Problems]
In this invention, in order to reduce the floor height of the service floor of the moving vehicle as much as possible and increase the proportion of the service floor area on the vehicle body base, the number of devices, parts, and circuits arranged under the vehicle body base is reduced as much as possible. A steering system, a driving system, a driving operation panel, a driver's stool, and a control circuit are distributed and arranged as driving operation blocks at both front and rear edge portions of the vehicle body base.
[0006]
Furthermore, in this invention, in order to increase the service floor area, the driver seat fixed at all times is abolished to be a standing driver's seat, and the driver's seat arm is supported rotatably, and the driver's seat arm is used. When not in use, it is flipped upward and rotated downward during use so as not to obstruct the use of the corners of the service floor as much as possible.
[0007]
In the present invention, in order to reverse the traveling direction of the moving vehicle without making a U-turn on the vehicle body base, the driving operation blocks are arranged on both the front edge and the rear edge of the vehicle body base, and the front edge and the rear edge thereof are arranged. In order to keep the driving sensation unchanged when any of the driving operation blocks is operated, the appearance of the driving operation blocks is the same or equivalent, and both driving operation blocks are arranged symmetrically with respect to the vehicle body base.
[0008]
In addition, in the present invention, a four-wheel independent drive / four-wheel independent steering system is adopted so that the vehicle can be rapidly moved and shifted in any of the forward / backward direction, various oblique directions, and right / left lateral directions. A steering block is connected between a wheel, a drive motor that is directly connected to the wheel via a speed reducer, and rotates the wheel, a steering motor that changes the direction of the wheel, a steering rotator that supports the wheel, and the steering motor. And a gear group which intervenes to convert the rotation of the steering motor into the steering rotation of the wheel.
[0009]
In addition, in order to make driving operations easy to understand and to prevent erroneous operations, the driving operation panel includes a driving operation panel including a lever capable of instructing forward / rear driving, left / right shift, and a switch capable of instructing normal phase / reverse phase steering. To do.
[0010]
Further, in the present invention, in order to correct a step difference in height with respect to the service floor surface, flaps that bridge the floor surface outside the vehicle body base and the service floor surface are provided on the left and right side edges of the vehicle body base so as to be inverted.
[0011]
Furthermore, the present invention provides a two-fold structure in which the central part of the vehicle body base in the front-rear direction is convex upward so that even if the floor height of the service floor is extremely low, it is possible to climb on a sloped road with ease. A structure is used, and auxiliary wheels are attached to the two folds.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
The basic embodiment of the present invention is a key to a four-wheel independent drive / four-wheel independent steering system on a vehicle body base that forms a service floor surface having a very low floor height from the running surface and does not cover the enclosure. A driving / steering block as a part is disposed, and driving operation blocks having at least the same appearance are arranged symmetrically with respect to the vehicle body base at both edge portions of the vehicle body base facing the front-rear direction. It is an electric mobile vehicle.
[0013]
One of the embodiments of the present invention is that a service floor surface having a very low floor height from the running surface is formed over a substantially entire surface and directly connected to the wheel via a wheel and a reduction gear on a vehicle body base that does not cover the enclosure. A steering motor that rotates the wheel, a steering motor that changes the direction of the wheel, a steering rotating body that supports the wheel, and the steering motor. The four-wheel independent drive and drive / steering blocks, which are the main parts of the four-wheel independent steering system, are arranged on both side edges of the vehicle body facing the front-rear direction. Is an electric mobile vehicle in which at least equivalent driving operation blocks are arranged point-symmetrically with respect to the vehicle body base.
[0014]
In another embodiment of the present invention, a main part of a four-wheel independent drive / four-wheel independent steering system is formed on a vehicle body base that forms a service floor surface that has a very low floor height from the running surface and does not cover the enclosure. A driving / steering block is disposed, and a joystick-operating driving panel, a driver's stool arm, a steering motor and a driving motor control circuit are respectively provided at both end edges of the vehicle body base facing in the front-rear direction. An electric mobile vehicle provided with a driving operation block including
[0015]
In another embodiment of the present invention, an electric mobile vehicle is provided with a stool arm for a driver in a standing posture, and the stool arm for the driver includes a stool bar extending in the lateral width direction of the vehicle body base and a rotation support arm connected to one end thereof. The end of the pivot support arm is pivotally supported with the horizontal axis of the body base as a support shaft, and the seat bar is pivotably supported in an arc shape. When not in use, it is flipped up and rotated downward when in use.
[0016]
Another embodiment of the present invention is an electric mobile vehicle in which a flap that bridges a floor surface outside the vehicle body base and a service floor surface is provided at left and right side edges of the vehicle body base so as to be able to be inverted.
[0017]
Furthermore, an embodiment of the present invention is an electric mobile vehicle having a two-fold structure in which the center part of the vehicle body base in the front-rear direction is convex upward, and auxiliary wheels are mounted on the two-fold parts.
[0018]
【Example】
Embodiments of the present invention will be described below with reference to the drawings. 1 is a side view of an electric mobile vehicle showing one embodiment, FIG. 2 is a perspective view of a driving operation panel of the electric mobile vehicle, FIG. 3 is a plan view of a vehicle body base of the electric mobile vehicle, and FIG. FIG. 5 is a block diagram of an electric system circuit of the electric mobile vehicle. FIG. FIG. 6 is a side view of an electric mobile vehicle showing another embodiment.
[0019]
In the figure, reference numeral 1 denotes a rectangular vehicle body base, which has a substantially entire upper surface as a service floor 2. In order to minimize the burden of getting on and off elderly people and wheelchair users when getting on and off a moving vehicle, the floor height of the service floor 2 (floor height from the running surface S) is set very low. As a result of examining the condition of the passage floor surface of medical institutions and welfare facilities in Japan, the floor height of the service floor surface 2 is considered to be an extremely low floor height that is not affected by the normal unevenness of the passage floor surface. It is set. The vehicle body base 1 is not covered with a ceiling or an enclosure as seen in a normal passenger car. Driving / steering blocks 3 are arranged at the four corners of the vehicle body base 1, and driving operation blocks having the same or at least the same appearance at both end edges 1a, 1b of the vehicle body base 1 facing the front and rear traveling directions. 4a and 4b are provided.
[0020]
The four drive / steering blocks 3 arranged at the four corners of the vehicle body base 1 are the main parts of the four-wheel independent drive / four-wheel independent steering system. As shown in FIGS. A wheel 32 pivotally supported by the steering rotator 31, a drive motor 34 that is directly connected to the wheel 32 via the speed reducer 33, rotates the wheel 32, a steering motor 35 that changes the direction of the wheel 32, and the steering rotation The drive / steering block 3 is composed of a gear group G that is interposed between the body 31 and the steering motor 35 and converts the rotation of the steering motor 35 into the steering rotation of the wheels 32. The gear group G includes a ring gear 36 and a pinion gear 37 that mesh with each other. The ring gear 36 is fixed to the steering rotating body 31, and the pinion gear 37 is connected to the rotating shaft of the steering motor 35. The steering rotator 31 is rotatably mounted on the lower surface of the vehicle body base 1 via a shaft 31a, and the steering motor 35 is fixed to the vehicle body base 1. The four-wheel independent drive / four-wheel independent steering of the wheels 32 using the drive / steering block 3 having the above-described structure is because the vehicle body base 1 is moved in the front-rear direction on a narrow limited travel path. In order to enable quick and accurate transition in various oblique directions and lateral directions, the controllable angle of the direction of the wheel 32 is set to at least ± 70 ° with respect to the longitudinal axis M of the vehicle body base 1 is doing.
[0021]
The driving operation blocks 4a and 4b each include a driving operation panel 41 for joystick operation, a driver's seat arm 42, a steering motor 35 for changing the direction of the wheels 32, a driving control circuit, and the like. By disposing the circuit on the front and rear end edges 1a and 1b of the vehicle body base 1 as driving operation blocks 4a and 4b without arranging the circuit on the lower surface of the vehicle body base 1, the floor height of the service floor 2 is kept low. However, the effective area of the service floor 2 on the vehicle body base 1 can be increased.
[0022]
Further, in order to widen the effective area of the service floor 2, a driver seat fixed at all times is not provided, a standing driver's seat is provided, and a driver's stool arm 42 is rotatably supported to provide a driver's stool arm. When the door 42 is not in use, it is flipped upward and rotated downward when in use so that the use of the corners of the service floor 2 is not hindered by the driver's seat arm 42 as much as possible. That is, the driver's stool arm 42 has an L-shape including a stool bar 42a extending in the lateral width direction of the vehicle body base 1 and a rotation support arm 42b connected to one end of the stool bar 42a. The stool bar 42a is supported so as to be rotatable in a circular arc shape with the shaft 42c in the horizontal direction as a support shaft, and the stool arm 42 is flipped upward when not in use and downward when in use. The driver in a standing posture by turning is drowning on the seat bar 42a.
[0023]
The reason why the driving operation blocks 4a and 4b are provided at both front and rear end edges 1a and 1b of the vehicle body base 1 is to reverse the traveling direction of the moving vehicle without making the vehicle body base 1 U-turned. The driving feeling does not change even if the driving operation block 4a or the driving operation block 4b is operated at any one of the front end edge (or rear end edge) 1a or the rear end edge (or front end edge) 1b. The driving operation blocks 4 a and 4 b having the same appearance or at least the same appearance are arranged symmetrically with respect to the vehicle body base 1.
[0024]
The reason why the driving operation panel 41 for joystick operation is used is that the driving operation is easy to understand intuitively and prevents erroneous operation. The driving operation panel 41 includes a front / rear operation lever 41a, a left / right shift lever 41b, In addition to the phase / reverse phase steering switch 41c, an emergency switch 41d and a key lock 41e are provided. The normal phase / reverse phase steering switch 41c performs an important function of switching the steering mode of the wheels 32. For example, in normal phase steering, the front wheels are operated like the steering of four wheels when an ordinary four-wheeled vehicle cuts a curve. The steering mode is such that the direction of the rear wheel and the direction of the rear wheel are different, and in the reverse phase steering, the four wheels are directed in the same direction and are moved in parallel in an oblique direction or right and left and right.
[0025]
Further, as shown in FIG. 1, in order to correct the boarding / alighting step with respect to the service floor surface 2 of the vehicle body base 1, the floor surface outside the vehicle body base 1 and the service floor surface 2 are bridged to the left and right edges of the vehicle body base 1. A safety switch (not shown) is provided that cuts off the power supply circuit of the vehicle body base 1 when the flap 1c is provided so as to be turned upside down and when the flap 1c is in an opened and fallen state. Note that P is a warning generating device (warning light generating device in the embodiment) attached to the vehicle body, and emits warning light toward the indoor ceiling or floor to warn of the presence of a moving vehicle.
[0026]
Further, as shown in FIG. 6, when climbing a sloped road S whose slope changes to a mountain shape, even if the floor height of the service floor 2 is extremely low, the wheels 32 do not lift from the road S, and the slope The center part of the vehicle body base 1 has a two-fold structure that protrudes upward, and the auxiliary wheel 5 is attached to the two-fold part 1e.
[0027]
The electric system circuit of the electric mobile vehicle is shown in FIG. In FIG. 5, 50 is a storage battery mounted on the vehicle body base 1, 34 is the drive motor, 35 is the steering motor, 41 is a driving operation panel for the joystick operation, and 41d is an emergency switch. As can be seen from the figure, in order to accurately control the drive motor 34 and the steering motor 35 and to detect a control abnormality of the drive motor 34 and the steering motor 35, the drive motor 34 has a rotation angle for driving motor and feedback. A sensor 51 and a drive motor / control abnormality detection rotation angle sensor 52 are added, and a steering motor / feedback rotation angle sensor 53 and a steering motor / control abnormality detection rotation angle sensor 54 are added to the steering motor 35. 55 is a drive motor controller, 56 is a steering motor controller, 57 is a drive motor control signal generator, 58 is a steering motor control signal generator, 59 is a control abnormality monitor, 60 is a joystick interface, 61 Is a brake system. These drive motor controller 55, steering motor controller 56, drive motor control signal generator 57, steering motor control signal generator 58, control abnormality monitor 59, joystick interface 60, The brake system 61 and the like constitute an operation control circuit.
[0028]
If the above-mentioned operation control circuit causes the moving vehicle, that is, the vehicle body base 1 to travel at a low speed of 7 km / h or less and an abnormal state, for example, the steering of the four wheels 32 does not function correctly for the intended driving purpose, Detect and stop operation. Further, in order to prevent electromagnetic interference to the medical electronic device, power wiring connected to the drive motor 34 and the steering motor 35 is twisted in the operation control circuit. Furthermore, when the mobile vehicle is in contact with an external person or object while the mobile vehicle is traveling, the mobile vehicle is stopped urgently, or the mobile vehicle is automatically stopped when the driver releases the driving lever. It is also possible to provide a display panel that shows how the vehicle body moves by the current steering operation.
[0029]
【The invention's effect】
As is clear from the above embodiment, according to the electric mobile vehicle of the present invention, since the floor height of the service floor of the mobile vehicle can be extremely low, elderly people and wheelchair users who visit medical institutions and welfare facilities can be moved. It is extremely preferable as a moving vehicle that assists the vehicle, and the effective use area of the service floor is increased, so that the efficiency of transferring people and things increases. Also, by changing the driving position on the vehicle body base back and forth without making a U-turn on the vehicle body base, the direction of travel can be safely reversed without greatly changing the driving sensation. Since it can be moved and moved laterally right and left, it can be fully utilized in places where there is not enough room for traffic such as indoor passages and elevators in medical institutions and welfare facilities.
[Brief description of the drawings]
FIG. 1 is a side view showing a basic configuration of an electric mobile vehicle according to an embodiment of the present invention.
FIG. 2 is a perspective view of a driving operation panel of the electric mobile vehicle.
FIG. 3 is a plan view of a vehicle body base of the electric mobile vehicle.
FIG. 4 is a perspective view showing a basic configuration of a drive / steering block of the electric mobile vehicle.
FIG. 5 is a block diagram of an electric system circuit of the electric mobile vehicle.
FIG. 6 is a side view showing a basic configuration of an electric mobile vehicle according to another embodiment of the present invention.
[Explanation of symbols]
1: Car body bases 1a, 1b: Edge part 1c of the car body base: Flap 1e: Folded part 2: Service floor 3: Drive / steering block 31: Steering rotary body 31a: Shaft 32: Wheel 33: Reduction gear 34 : Driving motor 35: Steering motor 36: Ring gear 37: Pinion gears 4a and 4b: Driving operation block 41: Driving operation panel 41a: Front / rear operation lever 41b: Left / right transition lever 41c: Normal phase / reverse phase steering switch 41d: emergency switch 41e: key lock 42: driver's stool arm 42a: stool bar 42b: rotation support arm 42c: support shaft 5: auxiliary wheel 50: storage battery 51: rotation angle sensor 52 for drive motor / feedback: drive motor Rotational angle sensor 53 for detecting control abnormality: Steering motor Rotating angle sensor 54 for feedback: Steering motor Rotation angle sensor 55: Drive motor controller 56: Steering motor controller 57: Drive motor control signal generator 58: Steering motor control signal generator 59: Control abnormality monitor 60: Joystick interface 61: Brake system G: Gear group M: Front / rear straight axis P: Warning generator S: Traveling surface

Claims (1)

A wheel, a drive motor connected to the wheel via a speed reducer to drive and rotate the wheel, a steering motor that changes the direction of the wheel, a steering rotating body that supports the wheel, and the steering motor. And a drive / steering block including a group of gears for converting the rotation of the steering motor into the steering rotation of the wheel, respectively, are disposed at the four corners of the vehicle body base that are extremely low from the running surface and do not have a roof. A four-wheel independent drive / four-wheel independent electric mobile vehicle having a service floor surface with a very low floor height from the running surface over substantially the entire surface of the vehicle body base and extending in a lateral width direction of the vehicle body base An L-shape consisting of a bar and a pivotal support arm connected to one end of the seat bar. The end of the pivotal support arm is pivotally supported about the horizontal axis of the vehicle body base and is upward when not in use. A driver's seat arm that is flipped up and rotated downward when in use is disposed at a point-symmetrical position with respect to the vehicle body base at both front and rear ends of the vehicle body base so that the service floor is formed and arranged at the four corners. Electric movement characterized in that an auxiliary wheel is attached to the two folding parts as a two-folding structure in which the center part in the front-rear traveling direction of one vehicle body base supported by the four wheels provided is convex upward vehicle.

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