JP5105077B2 - Traveling vehicle - Google Patents

Description

  The present invention relates to a traveling vehicle that stably controls the posture of a vehicle body supported by wheels.

  2. Description of the Related Art Conventionally, there is a technique that maintains a balanced state by applying a counterweight as posture control of a transfer device (see Patent Document 1).

In addition, it is a human mobile device equipped with a traveling control unit that performs posture control and traveling control for maintaining balance in the front-rear direction by driving the left and right drive wheels according to the output of the posture detection sensor. There is one that changes the position of the center of gravity by moving and reduces the inclination of the vehicle body during braking (see Patent Document 2).
JP 2004-129435 A JP 2004-276727 A

  However, in the inventions described in Patent Document 1 and Patent Document 2, it is necessary to newly provide a balancer for controlling the balance of the vehicle, which increases the weight of the vehicle, increases the output of the driving means of the traveling vehicle, and increases the cost. It was.

  The present invention solves the above-mentioned problem, and by retaining the function of a conventional balancer by moving the mounting portion, it is possible to secure a front space when the mounting portion moves backward. An object of the present invention is to provide a travelable vehicle.

For this purpose, the present invention provides a vehicle body, a mounting portion that is mounted so as to be movable only in the front-rear direction with respect to the traveling direction of the vehicle body, and a guide member that guides the moving direction of the mounting portion and the vehicle body. In the traveling vehicle including a wheel rotatably supported on the vehicle body and an actuator that supports the mounting portion in a movable manner , the guide member is below the mounting portion from a front end portion of the mounting portion. A guide rail having a front end disposed and fixed on the rear side in the front-rear direction of the vehicle body, and an overall length in the vehicle front-rear direction that is fixed to the vehicle body and shorter than the entire guide rail. A relative-moving slider, and the actuator has a front end portion disposed below the mounting portion at a rear side in the front-rear direction of the vehicle body from a front end portion of the mounting portion. A fixed guide portion, and a moving portion that is fixed to the vehicle body and has a shorter overall length in the longitudinal direction of the vehicle body than the entire guide portion and relatively moves along the guide portion, and the mounting portion is The balance of the vehicle body is maintained by moving the vehicle body only in the front-rear direction with respect to the vehicle body, and the front end portion of the entire guide member and the entire actuator has the mounting portion at the rearmost position with respect to the vehicle body. When moving, it is arranged behind the front end of the mounting portion in the longitudinal direction of the vehicle body.

According to the first aspect of the present invention, a vehicle body, a mounting portion that is mounted so as to be movable only in the front-rear direction with respect to the traveling direction of the vehicle body, and a guide that guides the movement direction of the mounting portion and the vehicle body. In the traveling vehicle including a member , a wheel rotatably supported on the vehicle body, and an actuator that supports the mounting portion so as to be movable , the guide member is located at a front end of the mounting portion below the mounting portion. A guide rail having a front end disposed and fixed on the rear side of the vehicle body in the front-rear direction of the vehicle body, and an overall length in the vehicle body front-rear direction that is fixed to the vehicle body and shorter than the entire guide rail. And the actuator has a front end portion disposed below the mounting portion on the rear side in the front-rear direction of the vehicle body from the front end portion of the mounting portion. A fixed guide portion; and a moving portion that is fixed to the vehicle body and has a shorter overall length in the longitudinal direction of the vehicle body than the entire guide portion, and relatively moves along the guide portion. The balance of the vehicle body is maintained by moving the vehicle body only in the front-rear direction with respect to the vehicle body, and the front end portion of the entire guide member and the entire actuator has the mounting portion at the rearmost position with respect to the vehicle body. Since it is arranged on the rear side in the front-rear direction of the vehicle body from the front end portion of the mounting portion when moved, the space in front of the mounting portion can be increased, and a large space for the occupant's feet can be ensured it can. Moreover, it is not necessary to provide a new member, an existing member can be used, and the cost can be reduced.

  According to the invention described in claim 4, since the moving means is provided on both sides in the vehicle body width direction, the load on the actuator can be reduced, and a small and compact device can be applied.

Hereinafter, an embodiment as an example of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating a traveling vehicle according to the present embodiment. FIG. 1A is a front view of the traveling vehicle, and FIG. 1B is a side view of the traveling vehicle. FIG. 2 is an enlarged view of the vicinity of the lower portion of the seat 3 of the traveling vehicle 1 of the present embodiment.

  The traveling vehicle 1 has a seat 3 as an example of a mounting portion mounted on the vehicle body 2 and operates a joystick 4 to control driving means such as left and right wheel motors (not shown). The vehicle is driven by driving the wheel 5 while maintaining the inclination angle) in an inverted state. The vehicle body 2 is equipped with a seat 3 on which an occupant M sits at the upper portion and supports the wheels 5 at the lower portion.

  The seat 3 is supported so as to be relatively movable in the front-rear direction with respect to the vehicle body 2 via a guide member as a guide means having a guide rail 6a, a slider 6b, and the like, and a seat portion 3a for mounting the occupant M and a back of the occupant M The seat back 3b and the seat support member 3c for supporting the seat 3 are provided. The height of the seat back 3b is preferably higher than the head of the occupant M. In front of the seat 3, a footrest 8 on which a leg portion of the occupant M is placed is provided. The joystick 4 is operated by an occupant M sitting on the seat 3 and is supported by the seat 3. The left and right wheels 5 are supported so as to be rotatable with respect to the vehicle body 2 via driving means such as a wheel motor on a common axis, and the front and rear driving force can be controlled independently. The wheels 5 are not limited to two left and right wheels, and may be one wheel or a plurality of wheels.

The vehicle body 2 includes an upper frame 21 and a lower frame 22. Guide members 6 arranged in parallel are attached to the upper frame 21. The guide member 6 has a guide rail 6a as a third member fixed to the seat 3 and a slider 6b as a fourth member fixed to the vehicle body 2 and moving along the guide rail 6a. The seat 3 is supported so as to be relatively movable along the guide member 6 with respect to the vehicle body 2. Thereby, while ensuring high rigidity, it can move smoothly with a small driving force. Further, a front end portion 6a _1, 6b ₁ of the guide rails 6a and the slider 6b is disposed on the rear side in the longitudinal direction of the vehicle body 2 than the front end 3a ₁ of the seat 3. Further, the guide rail 6a is configured to be longer in the front-rear direction of the vehicle body 2 than the slider 6b.

  Furthermore, the guide rail 6a may be fixed to the upper frame 21 side of the vehicle body 2 as a fourth member, and the slider 6b may be fixed to the seat 3 side as a third member. At that time, it is preferable that the slider 6b is configured to be longer in the longitudinal direction of the vehicle body 2 than the guide rail 6a.

A slide actuator 7 as a moving means is attached to the upper frame 21 of the vehicle body 2. The slide actuator 7 includes a guide portion 7a as a first member, a moving portion 7b as a second member, a drive portion 7c, and the like. The guide portion 7 a is attached and fixed below the battery box 9 via a flexible plate 10 as an example of elastic means, and the upper portion of the battery box 9 is attached to a seat support member 3 c provided below the seat 3. The moving part 7b is attached and fixed to the upper frame 21 of the vehicle body 2, driven by the driving part 7c, and relatively moved along the guide part 7a. Further, a front end portion 7a _1, 7b ₁ of the guide portion 7a and the moving portion 7b is disposed on the rear side in the longitudinal direction of the vehicle body 2 than the front end 3a ₁ of the seat 3. Furthermore, the guide portion 7a is configured to have a longer length in the front-rear direction of the vehicle body 2 than the moving portion 7b.

  In the present embodiment, the seat 3, the battery box 9, and the flexible plate 10 are configured as mounting portions. However, the guide portion 7a as the first member may be directly attached and fixed to the seat 3. Further, the moving portion 7b as the second member may also be directly attached and fixed to the vehicle body 2. A plurality of moving parts 7b may be provided. Further, the battery box 9 may be provided at another position, for example, behind the seat 3.

  Furthermore, it is good also as a structure which fixes the guide part 7a to the upper frame 21 side of the vehicle body 2 as a 2nd member, and fixes the moving part 7b to the seat 3 side as a 1st member. In that case, it is preferable that the moving part 7b is configured to be longer in the longitudinal direction of the vehicle body 2 than the guide part 7a.

  The flexible plate 10 is a member that connects the guide portion 7a of the slide actuator 7 and the battery box 9 as a support member that supports the mounting portion 3, and is a load from the seat 3, a load due to deformation during travel, or a dimensional tolerance. It is a plate-like elastic body that reduces the action on the slide actuator 7 by supporting a load generated during assembly by the like. Thereby, since the output of an actuator can be suppressed compared with the vehicle which is not provided with this elastic member, size reduction and energy saving of the slide actuator 7 can be achieved.

  In this embodiment, the flexible plate 10 is provided so as to be elastically connected between the guide portion 7a and the seat 3 side. However, the flexible plate 10 is elastically connected between the moving portion 7b and the vehicle body 2 side. May be provided. Moreover, although the flexible plate 10 was used as an elastic member, you may employ | adopt and connect other elastic members, such as a spring and rubber | gum. Furthermore, an elastic member such as the flexible plate 10 is not necessarily provided.

  FIG. 3 is a view showing the slide actuator 7 of the present embodiment. The slide actuator 7 has a guide part 7a, a moving part 7b, a driving part 7c, and a detecting part 7d. The slide actuator 7 has a ball screw 72 mounted on a rail 71 as a guide portion 7a, held by the ball screw 72 by a nut block 73, and a slider mounting portion 75 on which a slider block 74 as a moving portion 7b is placed. The servo motor 76 as the drive unit 7c is moved along the rail 71. The position of the slider block 74 is detected by a slider block position sensor 77 as the detection unit 7d.

  Next, the guide member 6 as the guiding means and the slide actuator 7 as the moving means will be described. In the embodiment of this description, an electrical component such as a battery box 9 and a load are placed behind the seat 3 and the slide actuator 7 is directly attached to the seat 3.

  In the traveling vehicle 1 of the present embodiment, when the guide portion 7a of the slide actuator 7 is attached to the seat 3 side, the moving portion 7b of the slide actuator 7 is attached to the vehicle body 2 side, and the moving portion 7b is driven by the driving portion 7c, The guide portion 7a moves relative to the moving portion 7b, and the seat 3 can be moved relative to the vehicle body 2 by the slide actuator 7.

  4 and 5 are schematic views showing the first embodiment. 4 shows a state in which the seat 3 has moved forward with respect to the vehicle body 2, and FIG. 4 shows a state in which the seat 3 has moved backward with respect to the vehicle body 2.

  In the first embodiment, the guide members 6 are disposed on both sides in the vehicle body width direction, and the slide actuator 7 is disposed between the guide members 6, for example, at the center or in the vicinity of the center as the center portion in the vehicle body width direction.

  The guide member 6 has a guide rail 6a and a slider 6b. The guide rail 6a is disposed in parallel to the upper frame 21 of the vehicle body 2, and a slider 6b is attached to be movable. There are two sliders 6b with respect to one guide rail 6a, and they are attached below the seat 3 with a gap. Therefore, the seat 3 is supported so as to be movable relative to the vehicle body 2 along the guide rail 6a. Further, the guide rail 6a is configured to be longer in the front-rear direction of the vehicle body 2 than the slider 6b. A plurality of sliders 6b may be provided.

  In the slide actuator 7, the guide portion 7 a is attached below the seat 3, and the moving portion 7 b is attached to the upper frame 21 of the vehicle body 2. Further, the guide portion 7a is configured to have a longer length in the front-rear direction of the vehicle body 2 than the moving portion 7b.

As shown in FIG. 4, when the seat 3 moves forward, the front end portions 6a ₁ and 6b _{1 of} the guide rail 6a and the slider 6b, and the front end portions 7a ₁ and 7b ₁ of the guide portion 7a and the moving portion 7b are It is arranged on the rear side in the front-rear direction of the vehicle body 2 from the front end portion 3a ₁ of the seat 3. As shown in FIG. 5, even when the seat 3 moves rearward, the front end portions 6a ₁ and 6b _{1 of} the guide rail 6a and the slider 6b, and the front end portions 7a ₁ and 7a _{1 of} the guide portion 7a and the moving portion 7b, 7b ₁ is disposed on the rear side in the longitudinal direction of the vehicle body 2 than the front end 3a ₁ of the seat 3.

  By setting it as such a structure, the space ahead of the seat 3 at the time of a mounting part moving back can be enlarged, and the space for a passenger | crew's leg | foot can be ensured large.

  6 and 7 are schematic views showing a second embodiment. 6 shows a state in which the seat 3 has moved forward with respect to the vehicle body 2, and FIG. 7 shows a state in which the seat 3 has moved backward with respect to the vehicle body 2.

  In the second embodiment, the guide member 6 is disposed at the center or near the center as the central portion in the vehicle body width direction, and the slide actuators 7 are disposed on both sides of the guide member 6.

  The guide member 6 has a guide rail 6a and a slider 6b. The guide rail 6a is disposed in parallel to the upper frame 21 of the vehicle body 2, and a slider 6b is attached to be movable. There are two sliders 6b with respect to one guide rail 6a, and they are attached below the seat 3 with a gap. Therefore, the seat 3 is supported so as to be movable relative to the vehicle body 2 along the guide rail 6a. Further, the guide rail 6a is configured such that the length in the front-rear direction of the vehicle body 2 is longer than the slider 6b. A plurality of sliders 6b may be provided.

  In the slide actuator 7, the guide portion 7 a is attached below the seat 3, and the moving portion 7 b is attached to the upper frame 21 of the vehicle body 2. Furthermore, the guide portion 7a is configured to have a longer length in the front-rear direction of the vehicle body 2 than the moving portion 7b.

As shown in FIG. 6, when the seat 3 moves forward, the front end portions 6a ₁ and 6b _{1 of} the guide rail 6a and the slider 6b, and the front end portions 7a ₁ and 7b ₁ of the guide portion 7a and the moving portion 7b are It is arranged on the rear side in the front-rear direction of the vehicle body 2 from the front end portion 3a ₁ of the seat 3. Further, as shown in FIG. 7, even when the seat 3 moves rearward, the front end portions 6a ₁ and 6b _{1 of} the guide rail 6a and the slider 6b, and the front end portions 7a ₁ and 7a _{1 of} the guide portion 7a and the moving portion 7b, 7b ₁ is disposed on the rear side in the longitudinal direction of the vehicle body 2 than the front end 3a ₁ of the seat 3.

  By adopting such a configuration, the load on the actuator can be reduced, and a small and compact one can be applied.

According to the invention of this embodiment, the vehicle body 2, the seat 3 attached so as to be movable back and forth with respect to the traveling direction of the vehicle body 2, the slide actuator 7 for controlling the relative position between the seat 3 and the vehicle body 2, and the seat In the traveling vehicle 1 including the guide member 6 that guides the moving direction of the vehicle 3 with respect to the vehicle body 2 and the wheels 5 that are rotatably supported by the vehicle body 2, the slide actuator 7 is a guide fixed to the seat 3. The guide member 6 includes a guide rail 6a fixed to the seat 3 and a guide rail 6a fixed to the vehicle body 2. The guide member 6 is fixed to the vehicle body 2 and has a moving portion 7b fixed to the vehicle body 2 and relatively moved along the guide portion 7a. and a slider 6b that relatively moves along the rails 6a, the guide portions 7a and the moving portion 7b, and the front end portion 7a ₁ of the guide rails 6a and a slider 6b, 7b _1, 6a _1, 6b ₁ is a seat 3 Because it is arranged on the rear side of the front end 3a ₁ in the longitudinal direction of the vehicle body 2, it is possible to increase the space in front of the seat 3, it is possible to ensure a large space for an occupant's feet. Moreover, it is not necessary to provide a new member, an existing member can be used, and the cost can be reduced.

  Moreover, since the guide part 7a is longer in the front-rear direction of the vehicle body 2 than the moving part 7b, a larger space for the occupant's feet can be secured.

  Further, since the guide rail 6a is longer in the longitudinal direction of the vehicle body 2 than the slider 6b, a larger space for the occupant's feet can be secured.

  Moreover, since the slide actuator 7 is provided on both sides in the vehicle body 2 width direction, the load on the actuator 7 can be reduced, and a small and compact actuator can be applied.

It is a figure which shows the traveling vehicle of this embodiment. It is the front view which expanded some traveling vehicles of this embodiment. It is a figure which shows the slide actuator of this embodiment. It is a figure which shows 1st Example. It is a figure which shows 1st Example. It is a figure which shows 2nd Example. It is a figure which shows 2nd Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Traveling vehicle, 2 ... Vehicle body, 3 ... Seat (mounting part), 4 ... Joystick, 5 ... Wheel, 6 ... Guide member (guide means), 7 ... Slide actuator (moving means), 8 ... Footrest, 9 ... Battery Box, 10 ... Flexible plate (elastic means)

Claims (1)

The car body,
A mounting portion on which an occupant is mounted so as to be movable only forward and backward with respect to the traveling direction of the vehicle body;
A guide member for guiding a moving direction of the mounting portion and the vehicle body;
A wheel rotatably supported by the vehicle body;
An actuator that movably supports the mounting portion;
In <br/> traveling vehicle equipped with,
The guide member is
A guide rail in which a front end portion is arranged and fixed below the mounting portion on the rear side in the front-rear direction of the vehicle body from the front end portion of the mounting portion;
A slider that is fixed to the vehicle body and has a shorter overall length in the longitudinal direction of the vehicle body than the entire guide rail, and relatively moves along the guide rail;
Have
The actuator is
A guide portion having a front end portion disposed and fixed to the rear side in the front-rear direction of the vehicle body from the front end portion of the mounting portion below the mounting portion;
A moving part that is fixed to the vehicle body and has a shorter overall length in the longitudinal direction of the vehicle body than the entire guiding part; and a relative movement along the guiding part;
Have
The mounting portion maintains the balance of the vehicle body by moving only in the front-rear direction by the actuator with respect to the vehicle body,
The front end portions of the entire guide member and the entire actuator are arranged on the rear side in the front-rear direction of the vehicle body from the front end portion of the mounting portion when the mounting portion moves most backward with respect to the vehicle body.
A traveling vehicle characterized by that.

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