JP4208090B2 - 差動操舵式電動車 - Google Patents
差動操舵式電動車 Download PDFInfo
- Publication number
- JP4208090B2 JP4208090B2 JP2006185250A JP2006185250A JP4208090B2 JP 4208090 B2 JP4208090 B2 JP 4208090B2 JP 2006185250 A JP2006185250 A JP 2006185250A JP 2006185250 A JP2006185250 A JP 2006185250A JP 4208090 B2 JP4208090 B2 JP 4208090B2
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- wheels
- steering
- rotation
- differential steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/003—Multidirectional wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/24—Endless track steering specially adapted for vehicles having both steerable wheels and endless track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/003—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels
- B62K5/007—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels power-driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
- B60Y2200/23—Ridable golf cars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/80—Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60
- B60Y2200/84—Wheelchairs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Automatic Cycles, And Cycles In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
VL=VC×rL/r
ここで、図4に示すように、VCは駆動輪2L、2R間の中間位置POの速度、Trはトレッド、rR=r−Tr/2、rL=r+Tr/2、rは、前輪1の垂直方向の操舵回転軸線P1を直進時に左右に交差する操作基準ラインL1と左右の駆動輪2L、2Rの中心位置P2、P3を結ぶ車軸ラインL2との交点である旋回中心位置O及び中間位置PO間の距離である。
2L、2R 駆動輪
3a ローラ
3L、3R 後輪
13 歯付ベルト
20 ハンドル
21 ハンドル軸
25 ポテンショメータ
Claims (4)
- 前輪及び後輪間の中間位置に、互いの回転方向及び回転速度差による差動操舵が行われるように駆動制御される左右一対の駆動輪を備えた差動操舵式電動車において、
後輪が左右一対の方向自在輪であり、また前輪は左右方向の中間に位置する1輪であり、前記前輪の上方に位置するハンドルに下設され、かつ車体フレームに設けられたステアリングコラムに回転自在に支持されたハンドル軸の下端部に、前記前輪が支持され、
左右に回転操作される前記ハンドルの基準位置からの回転操作方向及び回転操作角を検知する回転位置センサと、前記回転操作角が大きくなるのに伴って、前記ハンドルの操作方向側の駆動輪が反対側の前記駆動輪に対して順に減速、停止、反転加速し、90°の回転操作位置で反転等速になるように、左右一対の前記駆動輪にそれぞれ付属のモータを前記回転位置センサの検知信号に応答して回転方向及び回転速度を制御して駆動するモータ駆動輪制御手段とを備えたことを特徴とする差動操舵式電動車。 - 方向自在輪である後輪が、車輪直進方向に対して直交方向へ回転する複数個のローラを車輪の周囲に配列された非旋回式であることを特徴とする請求項1記載の差動操舵式電動車。
- 各ローラが、その直径を基端部から先端部に向けて連続的に小さくする半紡錘形状であり、前記先端部が隣合う前記ローラの前記基端部に近接し得るように、前記各ローラの前記先端部が、隣合う前記ローラの前記基端部に形成された凹部に部分的に侵入していることを特徴とする請求項2記載の差動操舵式電動車。
- 左右一対の後輪が、左右それぞれの側でベルトを介して駆動輪に連結されていることを特徴とする請求項2又は請求項3記載の差動操舵式電動車。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006185250A JP4208090B2 (ja) | 2006-07-05 | 2006-07-05 | 差動操舵式電動車 |
US11/810,163 US7552784B2 (en) | 2006-07-05 | 2007-06-05 | Differential steering type motorized vehicle |
EP07012729.5A EP1875888B1 (en) | 2006-07-05 | 2007-06-28 | Differential steering type motorized vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006185250A JP4208090B2 (ja) | 2006-07-05 | 2006-07-05 | 差動操舵式電動車 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008012012A JP2008012012A (ja) | 2008-01-24 |
JP4208090B2 true JP4208090B2 (ja) | 2009-01-14 |
Family
ID=38510249
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006185250A Expired - Fee Related JP4208090B2 (ja) | 2006-07-05 | 2006-07-05 | 差動操舵式電動車 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7552784B2 (ja) |
EP (1) | EP1875888B1 (ja) |
JP (1) | JP4208090B2 (ja) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
PT103354B (pt) * | 2005-09-21 | 2007-07-12 | Univ Do Minho | Sistema de controlo para cadeiras de rodas omnidireccionais |
NL2002131C (nl) | 2008-10-23 | 2010-04-26 | Rsw Ip B V | Inrichting voor het stapelen van objecten. |
EP2530002B1 (en) * | 2011-06-01 | 2015-01-14 | Sunrise Medical Limited | Passenger conveyance device with automatic steering angle limitation and speed reduction |
JP5827691B2 (ja) * | 2011-10-06 | 2015-12-02 | ヤマハ発動機株式会社 | 電動車両 |
CN102874310B (zh) * | 2012-10-15 | 2015-09-09 | 山推工程机械股份有限公司 | 一种推土机差速转向的控制方法和系统 |
JP6178583B2 (ja) * | 2013-02-14 | 2017-08-09 | 本田技研工業株式会社 | 直進旋回判定装置 |
JP6204205B2 (ja) * | 2014-01-20 | 2017-09-27 | 丸栄コンクリート工業株式会社 | ブロック据付装置 |
US20160339781A1 (en) * | 2014-06-27 | 2016-11-24 | Shu-Chen Chan | Mobility aid with an automatic turning deceleration device |
CN107792219B (zh) * | 2016-09-06 | 2020-10-16 | 夏普株式会社 | 移动车辆 |
JP6909051B2 (ja) * | 2016-09-06 | 2021-07-28 | シャープ株式会社 | 移動車両 |
JP6493342B2 (ja) * | 2016-09-07 | 2019-04-03 | トヨタ自動車株式会社 | 走行装置 |
AU2018224858C1 (en) | 2017-02-25 | 2021-10-28 | Pride Mobility Products Corporation | Mobility vehicle |
JP6842539B2 (ja) * | 2017-06-27 | 2021-03-17 | 本田技研工業株式会社 | 揺動式車両 |
KR101925814B1 (ko) * | 2018-06-21 | 2018-12-07 | 한국건설기술연구원 | 고령자 및 교통약자를 위한 이동수단 및 이의 주행 밸런스 유지 제어 방법 |
DE102019003591A1 (de) | 2018-06-22 | 2019-12-24 | Sew-Eurodrive Gmbh & Co Kg | Mobilteil und Verfahren zum Betreiben eines Mobilteils |
WO2020248132A1 (zh) * | 2019-06-11 | 2020-12-17 | 深圳市大疆创新科技有限公司 | 可移动平台的控制方法、装置、设备及存储介质 |
CN114275420A (zh) * | 2022-02-17 | 2022-04-05 | 陈雪旌 | 智能底座及垃圾桶 |
CN114305891B (zh) * | 2022-03-11 | 2022-05-17 | 中国人民解放军总医院第六医学中心 | 一种野战户外护理用担架车防倾制动装置 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4712461U (ja) | 1971-03-10 | 1972-10-14 | ||
JPS4712461Y1 (ja) | 1971-04-06 | 1972-05-09 | ||
US4823900A (en) * | 1984-05-01 | 1989-04-25 | Jeffrey Farnam | Four-wheel drive wheel-chair with compound wheels |
US4641720A (en) * | 1985-03-08 | 1987-02-10 | Young Alva L | Motorized wheel chair |
US5323867A (en) * | 1992-03-06 | 1994-06-28 | Eric J. Allard | Robot transport platform with multi-directional wheels |
JPH08154301A (ja) | 1994-11-29 | 1996-06-11 | Sanyo Electric Co Ltd | 電動車 |
JPH09294779A (ja) | 1996-04-30 | 1997-11-18 | Aisin Seiki Co Ltd | 車椅子 |
US6179073B1 (en) * | 1998-05-28 | 2001-01-30 | University Of South Florida | Hybrid track for a vehicle |
JP2001104397A (ja) | 1999-10-08 | 2001-04-17 | Misawa Homes Co Ltd | 電動車椅子 |
EP1284318B1 (en) * | 2000-05-22 | 2005-09-21 | Bridgestone Corporation | Rubber product reinforcing steel cord, rubber and steel cord composite material, radial tire, motor cycle radial tire and tire |
JP3682248B2 (ja) | 2000-08-22 | 2005-08-10 | 関東自動車工業株式会社 | 回転体付き車輪 |
JP2004306782A (ja) * | 2003-04-07 | 2004-11-04 | Takenaka Komuten Co Ltd | 走行装置 |
JP4307153B2 (ja) * | 2003-05-21 | 2009-08-05 | 関東自動車工業株式会社 | 4輪駆動式電動車椅子 |
JP2005047312A (ja) | 2003-07-30 | 2005-02-24 | Kanto Auto Works Ltd | 全方向移動車 |
US7213855B2 (en) * | 2004-03-08 | 2007-05-08 | Larson Dickie L | Hearse assembly |
-
2006
- 2006-07-05 JP JP2006185250A patent/JP4208090B2/ja not_active Expired - Fee Related
-
2007
- 2007-06-05 US US11/810,163 patent/US7552784B2/en not_active Expired - Fee Related
- 2007-06-28 EP EP07012729.5A patent/EP1875888B1/en not_active Not-in-force
Also Published As
Publication number | Publication date |
---|---|
EP1875888A3 (en) | 2011-08-24 |
EP1875888A2 (en) | 2008-01-09 |
US7552784B2 (en) | 2009-06-30 |
US20080006455A1 (en) | 2008-01-10 |
EP1875888B1 (en) | 2013-08-14 |
JP2008012012A (ja) | 2008-01-24 |
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