JP6061036B2 - Wheelbarrow - Google Patents

Description

  The present invention relates to a handcart that includes wheels and performs inverted pendulum control.

  Conventionally, a wheelbarrow that includes wheels and performs inverted pendulum control is known. For example, Patent Document 1 discloses a pair of wheels, a drive unit that drives the pair of wheels, a main body unit that is rotatably supported in the pitch direction with respect to the pair of wheels, and a pitch direction with respect to the main body unit. And an auxiliary wheel that is rotatably supported on the walking assist vehicle. A grip portion is provided at an end of the main body portion opposite to the pair of wheels.

  A user such as an elderly person or a handicapped grips the grip portion from the auxiliary wheel side and moves the walking auxiliary vehicle in the front-rear direction on the ground. The walking assistance vehicle assists the user's walking by performing an inverted pendulum control that controls the rotation of the pair of wheels by the drive unit.

International Publication No. 2012/114597 Pamphlet

  Some silver cars on the market are equipped with folding chairs that can be seated during breaks. Even in the above-mentioned walking assistance vehicles, chairs should be provided when making products for the elderly. Is required. In the walking auxiliary vehicle of Patent Document 1, the ground contact point when the user sits on a chair is a pair of wheels and auxiliary wheels.

  However, even if a flat chair is provided in the main body of the walking assist vehicle and the rotation of the pair of wheels is stopped, the ground contact point when the user sits on the chair becomes a problem. That is, when each grounding point is widened in the front-rear direction, although the stability when the user is seated on the chair is excellent, there is a problem that the walking auxiliary vehicle main body is enlarged. On the other hand, when each grounding point is narrowed in the front-rear direction, the walking assist vehicle body is reduced in size, but there is a problem that stability when the user is seated on the chair is deteriorated.

  Further, in order to improve the stability when the user is seated on the chair, for example, if the number of parts is increased by separately providing a leg portion on a flat chair, the weight of the walking assist vehicle increases. is there.

  Accordingly, an object of the present invention is to provide a small and light handcart that is excellent in stability when a user is seated on a chair.

  The handcart of this invention is equipped with the wheel, the drive part which drives a wheel, and the main-body part supported rotatably with respect to a wheel in a pitch direction. Further, the wheelbarrow of the present invention includes a support column having one end rotatably supported in the pitch direction with respect to the main unit, a seating unit supported at one end by the support, and an inclination of the main unit in the pitch direction. A first mode for detecting an angle change of the angle, an inverted pendulum control for controlling the rotation of the wheel by the drive unit based on an output of the detection unit, and the inverted pendulum control to stop the wheel by the drive unit. A control unit having a second mode for stopping rotation driving, and a switching unit for switching between the first mode and the second mode. A gripping portion is provided at the other end of the support column.

  When the switching unit is switched to the second mode, the column unit rotates until the other end of the column unit contacts the ground where the wheel contacts the ground, and the seating unit rotates with the rotation of the column unit. Rotate until level. In addition, if the seating part is horizontal with respect to the ground when it rotates until the other end of the column part contacts the ground, the rotation mechanism of the seating part is not essential.

  In this configuration, the user grips the grip portion or places a forearm or the like on the grip portion and moves the handcart in the front-rear direction on the ground. The handcart performs inverted pendulum control in the first mode and assists the user in walking.

  When sitting on the seat of the handcart, the user switches from the first mode to the second mode by the switching unit. Accordingly, the control unit switches the control mode from the first mode to the second mode. In the second mode, the control unit stops the inverted pendulum control and stops the rotation of the wheels.

  After switching from the first mode to the second mode by the switching unit, the user rotates the column unit until the other end of the column unit contacts the ground. And a user rotates a seating part until it becomes horizontal with respect to the ground. Thereby, the user can sit on the seating part (chair) of the handcart.

  Here, when the user is seated on the seat of the handcart, the ground contact point is the wheel where the inverted pendulum control is stopped and the rotation is stopped and the other end of the support column.

  Therefore, the stability when the user is seated on the seating portion can be improved by widening the ground contact points in the front-rear direction when the user is seated on the seating portion of the handcart. And the wheelbarrow when the user is walking with the assistance of the wheelbarrow is narrow in the front-rear direction because the other end of the column part is not grounded and the seating part is not oriented in the horizontal direction. Therefore, the handcart of the present invention can improve the stability when the user is seated on the seating portion while avoiding the enlargement of the handcart main body.

  In addition, since the support column rotated until the other end touches the ground, the wheelbarrow also serves as the leg of the chair, and thus it is necessary to separately provide a member (for example, a leg of the chair) that improves stability when sitting. No. Therefore, in the handcart, the weight of the handcart is reduced by the amount that it is not necessary to separately provide the member.

  Therefore, according to the present invention, it is possible to provide a small and light handcart that is excellent in stability when the user is seated on a chair.

  The handcart of the present invention may have the following configuration.

  The handcart of this invention is equipped with the wheel, the drive part which drives a wheel, and the main-body part supported rotatably with respect to a wheel in a pitch direction. Furthermore, the wheelbarrow of the present invention includes a support column having one end supported by the main unit, a seating unit supported by one end so as to be rotatable in the pitch direction with respect to the support unit, and an inclination of the main unit in the pitch direction. A first mode for detecting an angle change of the angle, an inverted pendulum control for controlling the rotation of the wheel by the drive unit based on an output of the detection unit, and the inverted pendulum control to stop the wheel by the drive unit. A control unit having a second mode for stopping the rotation drive, a switching unit for switching between the first mode and the second mode, and a support unit coupled to the main body unit or the rotating shaft of the wheel. Yes. A gripping portion is provided at the other end of the support column.

  And the support part is provided with a fitting part that fits with the other end of the support part when the support part rotates, and a grounding part that contacts the ground. When the mode is switched to the second mode by the switching unit, the column unit rotates until the other end of the column unit is fitted to the fitting unit, and the seating unit rotates with respect to the ground as the column unit rotates. Rotate until level. In addition, if the seating part is horizontal with respect to the ground when it rotates until the other end of a support | pillar part fits in a fitting part, the rotation mechanism of a seating part is not essential.

  In this configuration, the user grips the grip portion or places a forearm or the like on the grip portion and moves the handcart in the front-rear direction on the ground. The handcart performs inverted pendulum control in the first mode and assists the user in walking.

  When sitting on the seat of the handcart, the user switches from the first mode to the second mode by the switching unit. Accordingly, the control unit switches the control mode from the first mode to the second mode. In the second mode, the control unit stops the inverted pendulum control and stops the rotation of the wheels.

  After switching from the first mode to the second mode by the switching unit, the user rotates the column unit until the other end of the column unit is fitted to the fitting unit. A fitting part fixes a support | pillar part and prevents that a support | pillar part moves.

  Next, the user rotates the seating portion until it becomes horizontal with respect to the ground. Thereby, the user can sit on the seating part (chair) of the handcart.

  Here, the grounding point to the ground when the user is seated on the seating portion of the handcart is the wheel and the grounding portion where the inverted pendulum control is stopped and the rotation is stopped. The other end of the support column is supported by the ground via the grounding unit.

  Therefore, the stability when the user is seated on the seating portion can be improved by widening each grounding point when the user is seated on the seating portion of the handcart in the front-rear direction. The wheelbarrow when the user is walking with the assistance of the wheelbarrow has the other end of the column part not fitted in the fitting part, and the seating part also does not face the horizontal direction. Narrow. Therefore, the handcart of the present invention can improve the stability when the user is seated on the seating portion while avoiding the enlargement of the handcart main body.

  In addition, since the wheelbarrow has a supporting column and a grounding portion that are rotated until the other end is fitted into the fitting portion, the wheelbarrow also serves as a leg portion of the chair. ) Need not be provided separately. Therefore, in the handcart, the handcart main body can be miniaturized and the weight of the handcart can be reduced by the amount that the member need not be provided separately.

  Therefore, according to the present invention, it is possible to provide a small and light handcart that is excellent in stability when the user is seated on a chair. Furthermore, according to the handcart of the present invention, since the other end of the support column does not directly contact the ground, the other end of the support column can be kept clean.

  Moreover, it is preferable that the seat part is supported so that it can rotate independently with respect to the support | pillar part.

  In this configuration, when the seating part is not horizontal with respect to the ground when it rotates until the other end of the column part contacts the ground or when the other end of the column part rotates into the fitting part The user can rotate the seat until the seat is level with the ground.

  Moreover, it is preferable that a support part is expanded-contracted with respect to the advancing direction of the main-body part by rotation of a wheel.

  In this configuration, the user contracts the support portion when walking with the assistance of the handcart and extends the support portion when sitting on the seating portion of the handcart. Accordingly, when the user walks with the assistance of the handcart, the distance between the grounding portion and the wheel is narrowed, and thus the handcart is downsized. Further, when the user is seated on the seating portion of the handcart, the distance between the grounding portion and the wheel is widened, so the handcart is excellent in seating stability.

  Therefore, according to the wheelbarrow of the present invention, the wheelbarrow can be reduced in size when the user walks with the assistance of the wheelbarrow, and the seating stability can be ensured when the user sits on the seating portion of the wheelbarrow. .

  Further, when the control unit is switched to the first mode by the switching unit, the support unit is contracted, and when the switching unit is switched to the second mode, the support unit is expanded or contracted so that the support unit is extended. Is preferably controlled.

  In this configuration, when the user walks with the assistance of the handcart, the support portion automatically contracts, and when the user sits on the seat portion of the handcart, the support portion automatically extends. Therefore, according to the present invention, user convenience is improved.

  Moreover, it is preferable that a switching part is provided in the holding part or support | pillar part provided in the other end of the support | pillar part, and has a switch input means which detects a switch input. The switching unit preferably switches between the first mode and the second mode when the switching input is detected by the switching input means. Here, it is preferable that the switching input means is constituted by a push button switch or a touch sensor.

  In addition, the switching unit has a limit switch that detects whether or not the column unit maintains a predetermined angle with respect to the main body unit, and based on the detection result of the limit switch (switch-on state or switch-off state), It is preferable to switch between the first mode and the second mode.

  The switching unit includes a rotation angle detection unit that detects a rotation angle of the support column with respect to the main body, and switches between the first mode and the second mode based on the rotation angle detected by the rotation angle detection unit. It is preferable. Here, it is preferable that the rotation angle detection means is composed of a potentiometer or an encoder.

  In the second mode, it is preferable that the controller actively restrains the rotation of the wheel so that the wheel does not freely rotate by angle control by a motor or a brake mechanism. Thereby, when the user is seated, the wheelbarrow does not travel unintentionally in the front-rear direction, and the user can sit more safely.

  According to the present invention, it is possible to provide a small and light handcart that is excellent in stability when a user is seated on a chair.

1 is an external perspective view of a handcart 100 according to a first embodiment of the present invention. It is a side view of the handcart 100 shown in FIG. It is a front view of the handcart 100 shown in FIG. It is a control block diagram which shows the structure of the handcart 100 shown in FIG. It is an external appearance perspective view at the time of seating of the handcart 100 shown in FIG. It is a side view at the time of seating of the handcart 100 shown in FIG. FIG. 7A is a schematic side view of a handcart 101 that is a modification of the first embodiment of the present invention. FIG. 7B is a schematic side view when the handcart 101 shown in FIG. 7A is seated. It is an external appearance perspective view of the handcart 200 which is 2nd Embodiment of this invention. It is a side view of the handcart 200 shown in FIG. It is a front view of the handcart 200 shown in FIG. It is an external appearance perspective view at the time of seating of the handcart 200 shown in FIG. It is a side view at the time of seating of the handcart 200 shown in FIG. It is a side view of the handcart 300 which is 3rd Embodiment of this invention. It is a side view when the support part 312 is extended in the handcart 300 shown in FIG. It is a side view at the time of seating of the handcart 300 shown in FIG. It is an external appearance perspective view of the handcart 400 which is 4th Embodiment of this invention. It is a side view of the handcart 400 shown in FIG. FIG. 18 is an enlarged side view when the limit switch 180 shown in FIG. 17 is turned on. It is an enlarged side view at the time of switch-off of the limit switch 180 shown in FIG. It is an enlarged side view at the time of switch-on of the limit switch 280 which concerns on the modification of the limit switch 180 shown in FIG. It is an enlarged side view at the time of switch-off of the limit switch 280 which concerns on the modification of the limit switch 180 shown in FIG. It is a flowchart which shows the operation | movement which the control part 21 of the handcart 400 shown in FIG. 16 performs. It is an external appearance perspective view of the handcart 500 which is 5th Embodiment of this invention.

  Hereinafter, the handcart 100 which is 1st Embodiment of this invention is demonstrated.

  FIG. 1 is an external perspective view of a handcart 100 according to the first embodiment of the present invention. FIG. 2 is a side view of the handcart 100 shown in FIG. FIG. 3 is a front view of the handcart 100 shown in FIG.

  As shown in FIGS. 1 to 3, the handcart 100 includes a main body portion 110, a main wheel 111, a support portion 112, an auxiliary wheel 113, a support column portion 117, a seating plate 51, a fixing portion 52, The fixing unit 57, the tilt angle sensor 20, and the gyro sensor 24 are provided. In this embodiment, the handcart 100 is a walking auxiliary vehicle that assists the walking of users such as the elderly and the disabled. In addition, the handcart 100 is used as a stroller or a shopping cart, for example.

  The main wheel 111 corresponds to the “wheel” of the present invention. Further, the tilt angle sensor 20 and / or the gyro sensor 24 correspond to the “detection unit” of the present invention. The seating plate 51 corresponds to the “sitting part” of the present invention.

  Moreover, although the handcart 100 of this embodiment is provided with the support part 112 and the auxiliary wheel 113, it is not restricted to this. The wheelbarrow at the time of implementation does not need to include the support portion 112 and the auxiliary wheel 113.

  The support part 112 is, for example, a plate-like member extending in parallel with the horizontal ground G. Further, one end of the support portion 112 is supported by the main body portion 110. In addition, one auxiliary wheel 113 is rotatably supported at the other end of the support portion 112.

  The pair of main wheels 111 are independently attached to the drive shaft and rotate synchronously. However, the pair of main wheels 111 can be individually driven and rotated. Moreover, in this embodiment, although the main wheel 111 has shown the example which is two wheels, it is not restricted to two wheels. Similarly, an example in which the auxiliary wheel 113 is also one wheel is shown, but it is not limited to one wheel.

  One end of two rod-shaped fixing portions 57, which will be described in detail later, is connected to the end of the support portion 112 on the main wheel 111 side. Further, the end of the support portion 112 on the main wheel 111 side is connected to one end of the main body portion 110.

  The main body 110 has a frame shape extending in the vertical direction. A tilt angle sensor 20 and a gyro sensor 24 are attached to the main body 110. One end of the main body 110 is supported so as to be rotatable in the pitch direction with respect to the pair of main wheels 111. The other end of the main body 110 is connected to the hinge 115.

  The support column 117 has a rectangular frame shape. A hinge 115 is provided at one end of the support column 117 on the main wheel 111 side. Accordingly, one end of the support column 117 on the main wheel 111 side is supported so as to be rotatable in the pitch direction with respect to the main body 110. However, the hinge part 115 is provided with a lock mechanism that locks the rotation of the column part 117, as will be described in detail later.

  In addition, a grip 116 is provided at the other end of the support column 117 opposite to the main wheel 111. And between the both ends of the support | pillar part 117, the end of the seating board 51 and the end of the two rod-shaped fixing | fixed part 52 which mentions details later are connected.

  The seating plate 51 is plate-shaped, and a cushion is provided on the seating surface of the seating plate 51 on which the user sits. One end of the seating plate 51 is supported so as to be rotatable in the pitch direction with respect to the support column 117.

  The grip 116 is provided with a user interface (user I / F 28 shown in FIG. 4). The user I / F 28 is provided with a power switch of the handcart 100, a changeover switch for switching between a first mode and a second mode, the details of which will be described later, and the like. The user I / F 28 corresponds to the “switching unit” of the present invention.

  In the above configuration, the user grips the grip portion 116 from the auxiliary wheel 113 side or places a forearm or the like on the grip portion 116 and moves the handcart 100 on the ground G in the front-rear direction.

  Next, the configuration and basic operation of the handcart 100 will be described.

  FIG. 4 is a control block diagram showing the configuration of the handcart 100 shown in FIG. The handcart 100 includes an inclination angle sensor 20, a control unit 21, a ROM 22, a RAM 23, a gyro sensor 24, a drive unit 25, a rotary encoder 26, and a user I / F 28.

  The control unit 21 is a functional unit that comprehensively controls the handcart 1, and reads out a program stored in the ROM 22 and develops the program in the RAM 23 to realize various operations.

  The rotary encoder 26 detects the rotation angle of the main wheel 111 and outputs the detection result to the control unit 21. The control unit 21 differentiates the rotation angle of the main wheel 111 input from the rotary encoder 26 and calculates the angular velocity of the main wheel 111.

  The tilt angle sensor 20 detects the tilt angle of the main body 110 in the pitch direction with respect to the vertical direction and outputs it to the control unit 21.

  The gyro sensor 24 detects an angular velocity in the pitch direction of the main body 110 (a rotation direction around the rotation axis of the main wheel 111 in FIG. 1) and outputs the angular velocity to the control unit 21.

  In the present embodiment, the example in which the rotary encoder 26 is used as a means for detecting whether the rotation of the main wheel 111 is stopped has been described. However, the present invention is not limited to this, and any other sensor is used. Also good.

  Similarly, in the present embodiment, an example in which the tilt angle sensor 20 is used as means for detecting a change in the tilt angle of the main body 110 in the pitch direction is shown, but the present invention is not limited to this, and any other sensor is possible. May be used.

  Similarly, in the present embodiment, the example in which the gyro sensor 24 is used as the means for detecting the change in the inclination angle of the main body 110 in the pitch direction is shown, but the present invention is not limited to this. An acceleration sensor may be used, and any other sensor may be used.

  The control unit 21 has a first mode in which the inverted pendulum control is performed and a second mode in which the inverted pendulum control is stopped and the rotation of the main wheel 111 is stopped. Then, in the first mode, the control unit 21 determines that the angle change in the pitch direction of the main body 110 is zero based on the detection results of the gyro sensor 24 and the tilt angle sensor 20 and the vertical of the main body 110. The main wheel 111 is rotated by the drive unit 25 so that the tilt angle with respect to the direction becomes a target value (for example, 0 or a value close to 0), and the inverted pendulum control is performed.

  This inverted pendulum control will be described in detail below.

  The control unit 21 calculates the tilt angle of the main body 110 in the pitch direction based on the detection result of the tilt angle sensor 20. Thereby, the control part 21 estimates the inclination | tilt angle with respect to the perpendicular direction of the ground G where the handcart 100 exists.

  Then, the control unit 21 calculates the difference between the target tilt angle in the pitch direction of the main body 110 (usually 0 degree which is the vertical direction) and the tilt angle in the pitch direction of the main body 110, and adds an appropriate gain to the difference. The target angular velocity in the pitch direction of the main body 110 is calculated by multiplying.

  Further, the control unit 21 calculates the tilt angular velocity of the main body 110 based on the detection result of the gyro sensor 24. Further, the control unit 21 calculates a difference between the target angular velocity in the pitch direction of the main body 110 and the inclination angular velocity of the main body 110, performs an appropriate gain or PID control calculation on the difference, and calculates the difference in the pitch direction of the main body 110. A torque is calculated in which the inclination angle is 0 with respect to the vertical direction and the pitch inclination angular velocity of the main body 110 approaches 0.

  Then, the control unit 21 outputs the calculated torque value to the drive unit 25.

  The drive unit 25 drives a motor that rotates a shaft attached to the pair of main wheels 111. The drive unit 25 applies the torque value input from the control unit 21 to the motor of the main wheel 111 to rotate the main wheel 111.

  As described above, the handcart 100 performs the inverted pendulum control in the first mode, and maintains the state in which the main body 110 is oriented in the vertical direction. Therefore, even when the user grasps the grip portion 116 and pushes the grip portion 116 forward, the main wheel 111 rotates and the support portion 112 also moves forward, and the posture of the main body 110 is kept constant. .

  On the contrary, even when the user grips the grip 116 and pulls the grip 116 backward, the main wheel 111 rotates and the support 112 also moves backward, and the posture of the main body 110 is kept constant. It is. In this way, the handcart 100 performs inverted pendulum control in the first mode to assist the user in walking.

  Next, a scene where the user is seated on the seating plate 51 of the handcart 100 will be described.

  FIG. 5 is an external perspective view of the handcart 100 shown in FIG. 1 when seated. FIG. 6 is a side view when the handcart 100 shown in FIG. 1 is seated.

  When sitting on the seating plate 51 of the handcart 100, the user switches from the first mode to the second mode by the changeover switch of the user I / F 28. Thereby, the control unit 21 switches the control mode from the first mode to the second mode. The control unit 21 stops the inverted pendulum control in the second mode.

  After switching from the first mode to the second mode by the changeover switch of the user I / F 28, the user releases the locking mechanism of the hinge portion 115 that locks the rotation of the column portion 117. Then, the user rotates the support column 117 until the grip 116 that is the other end of the support column 117 contacts the ground G.

  When the gripping part 116 that is the other end of the support part 117 rotates until it contacts the ground G, the user attaches the other end of the fixing part 57 that is not connected to the support part 112 to the support part 117. As a result, the fixing portion 57 supports the support portion 117 in a grounded state, and prevents the support portion 117 from moving in a direction in which it is in contact with or separated from the main wheel 111.

  Next, the user rotates the seating plate 51 until it becomes horizontal with respect to the ground G. When the seating plate 51 is rotated until it becomes horizontal with respect to the ground G, the user attaches the other end of the fixed portion 52 not connected to the support column 117 to the seating plate 51. Thereby, the fixing | fixed part 52 supports the seating board 51 of a horizontal state, and keeps the seating board 51 in a horizontal state. Therefore, the user can sit on the seating plate 51 of the handcart 100.

  Here, the grounding point to the ground G when the user is seated on the seating plate 51 of the wheelbarrow 100 is the other end of the pair of main wheels 111 and the support column 117 where the inverted pendulum control is stopped and the rotation is stopped. And auxiliary wheel 113 (see FIGS. 5 and 6). On the other hand, the grounding point to the ground G when the user is walking with the assistance of the handcart 100 is a pair of main wheels 111 and auxiliary wheels 113 (see FIGS. 1 to 3).

  Therefore, each grounding point when the user is seated on the seating plate 51 of the handcart 100 is wider in the front-rear direction than each grounding point when the user is walking with the support of the handcart 100. Further, in the handcart 100 in the first mode in which the user is walking with the assistance of the handcart 100 (see FIGS. 1 to 3), the support column 117 and the seating plate 51 are oriented in the vertical direction.

  Therefore, the handcart 100 in the first mode in which the user is walking with the assistance of the handcart 100 (see FIGS. 1 to 3) is the second mode in which the user is seated on the seating plate 51 of the handcart 100. It is narrower in the front-rear direction than the wheelbarrow 100 at the time (see FIGS. 5 and 6). Therefore, the handcart 100 can improve the stability when the user is seated on the seating plate 51 while avoiding the enlargement of the handcart 100 main body.

  Further, in the handcart 100, since the support column 117 rotated until the grip 116 touches the ground G also serves as a leg of the chair, a member (for example, a leg of the chair) that improves stability at the time of sitting is separately provided. There is no need to provide it. Therefore, in the handcart 100, the weight of the handcart 100 is reduced by the amount that the member need not be provided separately.

  Therefore, according to this embodiment, it is possible to provide a small and light handcart 100 that is excellent in stability when the user is seated on the seating plate 51.

  In the handcart 100 of this embodiment, one end of the support column 117 on the main wheel 111 side is supported so as to be rotatable in the pitch direction with respect to the main body 110, but is not limited thereto. The support | pillar part 117 may be the structure which can rotate in several places. For example, as shown in FIGS. 7A and 7B, a plurality of hinge portions 115 are provided, the support column 157B is supported to be rotatable in the pitch direction with respect to the main body 110, and the support column 157A is supported with respect to the support column 157B. You may be supported so that rotation to a pitch direction is possible.

  Hereinafter, the handcart 200 which is 2nd Embodiment of this invention is demonstrated.

  FIG. 8 is an external perspective view of a handcart 200 according to the second embodiment of the present invention. FIG. 9 is a side view of the handcart 200 shown in FIG. FIG. 10 is a front view of the handcart 200 shown in FIG.

  The wheelbarrow 200 according to the second embodiment is different from the wheelbarrow 100 according to the first embodiment in a column portion 217, a support portion 212, and a fitting portion 240. About another structure, since it is the same as the handcart 100, description is abbreviate | omitted.

  Specifically, the vertical length of the support column 217 is shorter than the vertical length of the support column 117. Other configurations of the support column 217 are the same as those of the support column 117.

  The length of the support part 212 in the front-rear direction is longer than the length of the support part 112 in the front-rear direction. Then, on the upper surface of the support portion 212, a fitting portion 240 that fits with the grip portion 116 that is the other end of the column portion 217 when the column portion 217 rotates is provided instead of the fixed portion 57. Other configurations of the support portion 212 are the same as those of the support portion 112. In this embodiment, the auxiliary wheel 113 corresponds to the “grounding portion” of the present invention.

  In this embodiment, the end of the support portion 212 on the main wheel 111 side is connected to one end of the main body portion 110, but the present invention is not limited to this. For example, the end of the support portion 212 on the main wheel 111 side may be coupled to the rotation shaft of the main wheel 111.

  Next, a scene where the user is seated on the seating plate 51 of the handcart 200 will be described.

  FIG. 11 is an external perspective view of the handcart 200 shown in FIG. 9 when seated. FIG. 12 is a side view when the handcart 200 shown in FIG. 9 is seated.

  When sitting on the seating plate 51 of the handcart 200, the user switches from the first mode to the second mode by the switch of the user I / F 28. Thereby, the control unit 21 switches the control mode from the first mode to the second mode. The control unit 21 stops the inverted pendulum control in the second mode.

  After switching from the first mode to the second mode by the changeover switch of the user I / F 28, the user releases the lock mechanism of the hinge portion 115 that locks the rotation of the column portion 217. Then, the user rotates the column portion 217 until the grip portion 116 which is the other end of the column portion 217 is fitted to the fitting portion 240. Thereby, the fitting part 240 fixes the support | pillar part 217, and prevents the support | pillar part 217 from moving to the direction which contacts / separates with respect to the main wheel 111.

  Next, the user rotates the seating plate 51 until it becomes horizontal with respect to the ground G. When the seating plate 51 is rotated until it becomes horizontal with respect to the ground G, the user attaches the other end of the fixed portion 52 that is not connected to the column portion 217 to the seating plate 51. Thereby, the fixing | fixed part 52 supports the seating board 51 of a horizontal state, and keeps the seating board 51 in a horizontal state. Therefore, the user can sit on the seating plate 51 of the handcart 200.

  At this time, the ground contact point to the ground G is a pair of main wheels 111 and auxiliary wheels 113 in which the inverted pendulum control is stopped and the rotation is stopped. The other end of the column portion 217 is supported on the ground via the auxiliary wheel 113.

  Here, the wheelbarrow 200 can improve the stability when the user is seated on the seating plate 51 by widening each grounding point when the user is seated on the seating plate 51 of the handcart in the front-rear direction. Further, in the handcart 200 (see FIGS. 8 to 10) in the first mode in which the user is walking with the support of the handcart 200, the support column 217 and the seating plate 51 are oriented in the vertical direction.

  Therefore, the wheelbarrow 200 in the first mode (see FIGS. 8 to 10) in which the user is walking with the assistance of the wheelbarrow 200 is in the second mode in which the user is seated on the seating plate 51 of the wheelbarrow. It is narrower in the front-rear direction than the handcart 200 (see FIGS. 11 and 12). Therefore, the handcart 200 can improve the stability when the user is seated on the seating plate 51 while avoiding an increase in the size of the main body of the handcart 200.

  Further, in the handcart 200, since the support column 217 and the auxiliary wheel 113 that have been rotated until the grip 116 is fitted to the fitting portion 240 also serve as a leg portion of the chair, a member (for example, a member that improves stability at the time of sitting) There is no need to provide separate chair legs. Therefore, the handcart 200 can reduce the weight because it is not necessary to separately provide the member.

  Therefore, according to the handcart 200, the same effect as the handcart 100 is produced. Furthermore, in the handcart 200, since the grip part 116 does not directly contact the ground G, the grip part 116 can be kept clean.

  Hereinafter, the handcart 300 which is 3rd Embodiment of this invention is demonstrated.

  FIG. 13 is a side view of a handcart 300 according to the third embodiment of the present invention. FIG. 14 is a side view when the support portion 312 is extended in the handcart 300 shown in FIG. 13. FIG. 15 is a side view when the handcart 300 shown in FIG. 13 is seated.

  The point that the handcart 300 of the third embodiment differs from the handcart 200 of the second embodiment is that a support portion 312 that expands and contracts with respect to the traveling direction Q of the main body portion 110 due to the rotation of the main wheel 111 is provided. About another structure, since it is the same as the handcart 100, description is abbreviate | omitted.

  In this configuration, as shown in FIG. 13, the user contracts the support portion 312 when walking with the aid of the handcart 300. When the user sits on the seating plate 51 of the handcart 300, the user switches the first mode to the second mode by the changeover switch of the user I / F 28, and then, as shown in FIG. extend.

  Thereafter, when the user performs the same work as in the second embodiment (unlocking the hinge part 115, rotating the column part 217, rotating the seating plate 51, etc.), the handcart 300 is in the state shown in FIG. . Accordingly, the user can sit on the seating plate 51 of the handcart 300.

  Therefore, when the user walks with the assistance of the handcart 300, the distance between the auxiliary wheel 113 and the main wheel 111 is reduced, and thus the handcart 300 is downsized. And since a space | interval of the auxiliary wheel 113 and the main wheel 111 becomes large when a user seats on the seating board 51 of the handcart 300, the handcart 300 is excellent in the stability of seating.

  Therefore, according to the handcart 300, the handcart 300 can be reduced in size when the user walks with the assistance of the handcart 300, and the seating stability is ensured when the user sits on the seating plate 51 of the handcart 300. Can do.

  In the handcart 300, when the control unit 21 is switched to the first mode by the switch of the user I / F 28, the support unit 312 is contracted, and the second mode is switched by the switch of the user I / F 28. When switching, it is preferable to control the expansion and contraction of the support portion 312 so that the support portion 312 extends. In this configuration, when the user walks with the assistance of the handcart 300, the support portion 312 automatically contracts, and when the user sits on the seating plate 51 of the handcart 300, the support portion 312 automatically extends. Therefore, according to this configuration, user convenience is improved.

  Hereinafter, the handcart 400 which is 4th Embodiment of this invention is demonstrated.

  FIG. 16 is an external perspective view of a handcart 400 according to the fourth embodiment of the present invention. FIG. 17 is a side view of the handcart 400 shown in FIG. FIG. 18 is an enlarged side view when the limit switch 180 shown in FIG. 17 is turned on. FIG. 19 is an enlarged side view of the limit switch 180 shown in FIG.

  The handcart 400 of the fourth embodiment is different from the handcart 100 of the first embodiment in that a pushbutton switch 170, a touch sensor 171 and a limit switch 180 are provided. About another structure, since it is the same as the handcart 100, description is abbreviate | omitted. The push button switch 170, the touch sensor 171 and the limit switch 180 constitute a “switching unit” of the present invention.

  The push button switch 170 is provided on the grip 116 provided at the other end of the support column 117. The push button switch 170 receives a switching input for switching between the first mode and the second mode. The push button switch 170 transmits the switching input to the control unit 21.

  In addition, when sitting on the seating board 51 of the handcart 400, the user presses the pushbutton switch 170 to switch from the first mode to the second mode.

  The touch sensor 171 is provided on a grip 116 provided at the other end of the support column 117. The touch sensor 171 detects whether or not the user is touching. The touch sensor 171 transmits to the control unit 21 whether or not the user is touching. Although details will be described later, the touch sensor 171 also receives a switching input for switching between the first mode and the second mode depending on whether or not the user touches the grip 116.

  The limit switch 180 is provided in the main body 110. The limit switch 180 detects whether the support column 117 is maintaining a predetermined angle with respect to the main body 110. As shown in FIGS. 18 and 19, the limit switch 180 includes a button 182 and a housing 183. The button 182 is provided on the housing 183.

  When the support column 117 is parallel to the main body 110 (that is, the support column 117 is positioned on the extension of the main body 110) or at an angle close to parallel, as shown in FIG. The unit 117 presses the button 182. As a result, the limit switch 180 is turned on, and the control unit 21 is informed that the support column 117 is horizontal with respect to the main body 110, that is, the support column 117 is positioned on the extension of the main body 110.

  On the other hand, when the support column 117 is not parallel to or close to an angle parallel to the main body 110, that is, when the support column 117 is not positioned on the extension of the main body 110, as shown in FIG. 117 leaves button 182. Thereby, the limit switch 180 is turned off. The limit switch 180 is turned off, and the control unit 21 is notified that the support column 117 is parallel to the main body unit 110, that is, the support column 117 is not positioned on the extension of the main body unit 110.

  In the present embodiment, the limit switch 180 is not limited to the configuration shown in FIGS. 18 and 19 as long as it can detect whether the support column 117 is maintaining a predetermined angle with respect to the main body 110. .

  For example, as shown in FIGS. 20 and 21, a configuration may be adopted in which a limit switch 280 is installed in the support column 117 and a plate unit 181 is newly provided in the main body 110. In this configuration, when the support column 117 is positioned parallel to the main body 110, that is, on the extension of the main body 110, the limit switch 280 is turned on when the plate 181 presses the button 182. .

  Next, the operation of the handcart 400 will be described.

  FIG. 22 is a flowchart showing an operation performed by the control unit 21 of the handcart 400 shown in FIG.

  When the power is turned on, the control unit 21 determines whether the support column 117 is parallel to the main body 110 (that is, whether the support column 117 is positioned on the extension of the main body 110). (S1).

  When it determines with the support | pillar part 117 being parallel with respect to the main-body part 110, the control part 21 determines whether the pushbutton switch 170 is pressed down by the user (S2).

  When it is determined that the push button switch 170 is not pressed by the user, the control unit 21 determines whether the user is holding the grip unit 116 by the touch sensor 171 (S3).

  When it is determined that the user is holding the grip 116, the controller 21 executes the first mode for performing the inverted pendulum control (S4).

  On the other hand, when the control unit 21 determines that the support column 117 is parallel to the main body unit 110, that is, the support column 117 is not positioned on the extension of the main body unit 110, the control unit 21 determines that the user has pressed the push button switch 170. In the case where it is determined that the user has released his / her hand from the touch sensor 171, the second mode in which the inverted pendulum control is stopped is executed (S5).

  In the handcart 400, the push button switch 170 and the touch sensor 171 are provided in the grip 116, but the present invention is not limited to this. At the time of implementation, the push button switch 170 and the touch sensor 171 may be provided on the support column 117.

  Moreover, although the handcart 400 is equipped with all the pushbutton switches 170, the touch sensor 171, and the limit switch 180, and performs all the determination of S1-S3, it is not restricted to this. At the time of implementation, at least one of the pushbutton switch 170, the touch sensor 171 and the limit switch 180 is provided, and any one or two of S1 to S3 are determined (for example, determination of only S2). Just fine.

  Hereinafter, the handcart 500 which is 5th Embodiment of this invention is demonstrated.

  FIG. 23 is an external perspective view of a handcart 500 according to the fifth embodiment of the present invention.

  The difference between the handcart 500 of the fifth embodiment and the handcart 100 of the first embodiment is that the limit switch 180 is not provided and the potentiometer 190 is provided. About another structure, since it is the same as the handcart 400, description is abbreviate | omitted.

  The potentiometer 190 is provided in the hinge part 115. The potentiometer 190 detects the rotation angle of the support column 117 with respect to the main body 110.

  And in the handcart 500, the control part 21 determines whether the support | pillar part 117 is parallel with respect to the main-body part 110 by the potentiometer 190 in above-mentioned S1. In addition, the control part 21 performs the process (S2-S5) shown in FIG.

  In the handcart 500, the rotation angle detecting means is constituted by the potentiometer 190, but the invention is not limited to this. In implementation, the rotation angle detection means may be constituted by an encoder.

  Furthermore, regarding each of the handcarts 100, 200, 300, 400, and 500, in the second mode, the control unit 21 can perform control to restrict the rotation of the main wheel 111 so that the main wheel 111 does not freely rotate. preferable.

  Specifically, each of the wheelbarrows 100, 200, 300, 400, and 500 has a brake mechanism that mechanically stops the rotation of the main wheel 111, and the control unit 21 operates the brake mechanism in the second mode. It is possible to make it.

  Accordingly, when the user is seated, each of the wheelbarrows 100, 200, 300, 400, and 500 does not travel unintentionally in the front-rear direction, and the user can sit more safely.

  Finally, the description of the embodiment should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above embodiments but by the claims. Furthermore, the scope of the present invention is intended to include all modifications within the meaning and scope equivalent to the scope of the claims.

20 ... Inclination angle sensor 21 ... Control unit 22 ... ROM
23 ... RAM
24 ... Gyro sensor 25 ... Drive unit 26 ... Rotary encoder 51 ... Seating plate 52 ... Fixed portion 57 ... Fixed portion 100 ... Wheelbarrow 101 ... Wheelbarrow 110 ... Main body 111 ... Main wheel 112 ... Supporting portion 113 ... Auxiliary wheel 115 ... Hinge part 116 ... gripping part 117 ... pillar part 157 A ... pillar part 157 B ... pillar part 170 ... push button switch 171 ... touch sensor 180 ... limit switch 181 ... plate part 182 ... button 183 ... casing 190 ... potentiometer 200 ... handcart 212 ... support section 217 ... support section 240 ... fitting section 280 ... limit switch 300 ... handcart 312 ... support section 400 ... handcart 500 ... handcart G ... ground

Claims (12)

Wheels,
A drive unit for driving the wheels;
A wheelbarrow provided with a main body that is rotatably supported in the pitch direction with respect to the wheel,
One end of which is supported to be rotatable in the pitch direction with respect to the main body,
A seating portion having one end supported by the support column;
A detection unit for detecting an angle change of an inclination angle in a pitch direction of the main body unit;
A first mode for performing an inverted pendulum control for controlling the rotation of the wheel by the driving unit based on an output of the detection unit, and the inverted pendulum control are stopped, and the rotational driving of the wheel by the driving unit is stopped. A control unit having a second mode;
A switching unit that switches between the first mode and the second mode,
When the switching unit is switched to the second mode, the column unit rotates until the other end of the column unit contacts the ground on which the wheel contacts the ground, and the seating unit A wheelbarrow characterized by rotating with rotation to become horizontal with respect to the ground. Wheels,
A drive unit for driving the wheels;
A wheelbarrow provided with a main body that is rotatably supported in the pitch direction with respect to the wheel,
One end of which is supported to be rotatable in the pitch direction with respect to the main body,
A seating portion having one end supported by the support column;
A detection unit for detecting an angle change of an inclination angle in a pitch direction of the main body unit;
A first mode for performing an inverted pendulum control for controlling the rotation of the wheel by the driving unit based on an output of the detection unit, and the inverted pendulum control are stopped, and the rotational driving of the wheel by the driving unit is stopped. A control unit having a second mode;
A switching unit that switches between the first mode and the second mode;
A support portion coupled to the main body portion or the rotating shaft of the wheel,
The support part is provided with a fitting part that fits with the other end of the support part when the support part rotates, and a grounding part that contacts the ground,
When the switching unit is switched to the second mode, the support column rotates until the other end of the support column is fitted to the fitting unit, and the seating unit rotates the support column. Accordingly, the wheelbarrow rotates until it becomes horizontal with respect to the ground.   The handcart according to claim 1 or 2, wherein the seating portion is rotatably supported independently of the support column portion.   The handcart according to claim 2 or 3, wherein the support part expands and contracts with respect to a traveling direction of the main body part by rotation of the wheel.   The control unit contracts the support unit when switched to the first mode by the switching unit, and extends the support unit when switched to the second mode by the switching unit. The handcart according to claim 4, wherein expansion and contraction of the support portion is controlled. The switching unit has a switching input means for detecting a switching input, provided in a gripping unit provided at the other end of the column unit or the column unit,
6. The switch according to claim 1, wherein the switching unit switches between the first mode and the second mode when the switching input is detected by the switching input unit. 6. Wheelbarrow.   The handcart according to claim 6, wherein the switching input unit includes a pushbutton switch.   The handcart according to claim 6 or 7, wherein the switching input means includes a touch sensor. The switching unit has a limit switch that detects whether or not the column unit maintains a predetermined angle with respect to the main body unit,
The handcart according to any one of claims 1 to 8, wherein the switching unit switches between the first mode and the second mode based on a detection result of the limit switch. The switching unit includes a rotation angle detection unit that detects a rotation angle of the support column with respect to the main body,
9. The switch according to claim 1, wherein the switching unit switches between the first mode and the second mode based on the rotation angle detected by the rotation angle detection unit. The described wheelbarrow.   The handcart according to claim 10, wherein the rotation angle detection unit includes a potentiometer or an encoder.   12. The control unit according to claim 1, wherein the control unit controls the rotation of the wheel to be restricted when the switching unit is switched to the second mode. 13. Wheelbarrow.

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