JP7205054B2 - electric moving body - Google Patents

Description

The present invention relates to an electric vehicle.

2. Description of the Related Art An electric wheelchair is known that has a pair of left and right operation members that move in the front-rear direction (see Patent Document 1, for example).

The pair of left and right operation members are connected so as to translate in opposite directions. Therefore, the driver can intuitively operate the operation member, and erroneous operation is prevented. In addition, the driver can steer the vehicle by operating one of the left and right operation members with one hand.

JP 2017-060726 A

A pair of left and right operating members can be operated in the front-rear direction like a conventional electric wheelchair for users who have problems with bending and straightening their arms or who have weakened muscle strength for bending and straightening their arms. It is difficult.

SUMMARY OF THE INVENTION Accordingly, the present invention provides an electric moving body that reduces the burden on the user's arm during steering and improves usability.

In order to solve the above problems, an electric vehicle according to the present invention comprises a pair of left and right wheels, an electric motor for independently driving the wheels, a handle held by a user, and a user holding the handle. A handle support unit that movably supports the handle on an arcuate track centered on the handle, a handle position detection unit that detects the movement position of the handle, and a force that returns the handle to a neutral position on the arcuate track. an accelerator operation unit that receives an accelerator operation; and an accelerator operation unit that drives the electric motor based on the accelerator operation received by the accelerator operation unit. a control unit that drives the wheels more strongly than the wheels on the left side when the steering wheel moves leftward , wherein the handle support unit includes an arc-shaped tube portion; an in-pipe moving body that is housed in a pipe portion and is movable along the arcuate trajectory and is fixed to the handle, wherein the restoring force generating portion is provided at at least one end of the pipe portion; force to return the in-pipe moving body to the neutral position .
Further, in order to solve the above-mentioned problems, an electric vehicle according to the present invention includes a pair of left and right wheels, an electric motor for independently driving the wheels, a handle to be gripped by a user, and a handle to be gripped by the user. A handle support section that supports the handle so as to be movable along an arcuate trajectory centered on the user, a handle position detection section that detects the movement position of the handle, and a force that returns the handle to the neutral position of the arcuate trajectory. an accelerator operation unit that receives an accelerator operation; and an accelerator operation unit that drives the electric motor based on the accelerator operation received by the accelerator operation unit. and a control unit that strongly drives the wheels of the steering wheel and drives the wheels on the right side more strongly than the wheels on the left side when the steering wheel moves leftward, wherein the control unit is detected by the steering wheel position detection unit. The difference in driving force between the left and right wheels is increased or decreased according to the movement position of the handle.

According to the present invention, it is possible to reduce the burden on the user's arm during steering, and to provide an electric vehicle that is easy to use.

1 is a perspective view of an electric vehicle according to an embodiment of the present invention as viewed from the front left side; FIG. 1 is a perspective view of an electric vehicle according to an embodiment of the present invention as seen from the rear left side; FIG. 1 is a perspective view of an electric vehicle according to an embodiment of the present invention as seen from the rear left side; FIG. 1 is a plan view of an electric vehicle according to an embodiment of the present invention; FIG. FIG. 2 is a cross-sectional view of the drive wheel unit of the electric vehicle according to the embodiment of the present invention; FIG. 2 is a cross-sectional view of the drive wheel unit of the electric vehicle according to the embodiment of the present invention;

An embodiment of an electric vehicle according to the present invention will be described below with reference to FIGS. 1 to 6. FIG. In addition, the same code|symbol is attached|subjected to the same or corresponding structure in several drawings.

FIG. 1 is a perspective view of an electric vehicle according to an embodiment of the present invention as seen from the front left side.

2 and 3 are perspective views of the electric vehicle according to the embodiment of the present invention as seen from the rear left side.

2 shows a state in which the loading platform is unfolded, and FIG. 3 shows a state in which the loading platform is retracted.

The solid arrow F in FIG. 1 is the forward direction of the electric vehicle 1 (that is, the forward direction), and the opposite direction is the rearward direction of the electric vehicle 1 (backward direction). When viewed forward from the electric vehicle 1 grounded on the ground, the left direction is the left side of the electric vehicle 1 and the opposite direction is the right side of the electric vehicle 1 . Looking ahead from the electric vehicle 1 grounded on the ground, the upward direction is the upper direction of the electric vehicle 1, and the opposite direction is the downward direction of the electric vehicle 1. The direction of each part constituting the electric vehicle 1 conforms to the definition of the direction of the electric vehicle 1 .

As shown in FIGS. 1 to 3, the electric vehicle 1 according to the present embodiment includes a loading section 5 on which a person rides and loads are placed, and in the unfolded state (FIG. 2) of the loading platform 6, It is an electric cargo bed on which a person can board. The electric vehicle 1 can also be manually pushed by a person in the stored state (FIG. 3) with the loading platform 6 folded. In other words, the carrier 6 can be folded in order to secure the feet of the person who pushes the electric vehicle 1 by hand.

The electric vehicle 1 includes a front cargo bed portion 7 having a loading portion 5, a rear cargo bed portion 8 that can be folded and stored, and a rear cargo bed portion 8 that is connected to the front cargo bed portion 7 so as to be swingable. and a support shaft portion 9 that supports the device so as to be able to swing between the unfolded state and the stowed state. The loading section 5 of the front loading platform 7 is arranged at a position higher than the loading platform 6 of the rear loading platform 8, that is, at a position farther from the ground than the loading platform 6.例文帳に追加

First, the front loading platform 7 includes a frame 11, a plurality of first wheels 12 that support the frame 11 so as to be able to travel, a steering wheel 13, an accelerator operation unit 15 that receives an accelerator operation, and an accelerator operation that the accelerator operation unit 15 receives. An electric motor 16 that drives at least one of the first wheels 12 based on the base, and a loading section 5 that is supported by the frame 11 and capable of loading a heavy load.

Next, the rear cargo bed portion 8 includes a cargo bed 6 having a substantially flat top surface, first casters 21 provided on the cargo bed 6 to support the unfolded cargo bed 6 so that the cargo bed 6 can travel, and a handle portion provided on the cargo bed 6. 22 and.

The front cargo bed portion 7 is provided with a cargo bed fixing portion 25 which is provided in the loading portion 5 and connected to the handle portion 22 to support the cargo bed 6 in the stored state.

Further, the front cargo bed section 7 includes a switching mechanism 26 capable of switching the loading section 5 between the swingable state and the fixed state, and a braking mechanism 27 damping the swinging of the loading section 5 in the swingable state. .

The rear carrier part 8 is provided with a second caster 29 which is provided on the carrier 6 and supports the carrier 6 so as to be able to travel in the stored state.

The frame 11 includes a pair of left and right main frames 31 that support the loading section 5, and a plurality of cross members 32 spanning the left and right main frames 31. As shown in FIG.

Each of the left and right main frames 31 includes a main pipe 33 elongated in the front-rear direction of the electric vehicle 1, and a main pipe 33 elongated obliquely upward from the front end of the main pipe 33, bent at the top and extending horizontally. It has a first bed pipe 35 extending and a second bed pipe 36 extending upward from the horizontal portion of the first bed pipe 35. - 特許庁

A first plate portion 47 , for example, a metal plate, is laid over the front end portions of the left and right main pipes 33 . A top surface (a surface facing upward) of the first plate portion 47 faces the stacking portion 5 .

A device mounting plate 41 , for example, a metal plate, spans from the central portion to the rear end portion of the left and right main pipes 33 . A battery 42 , a charger 43 for the battery 42 , and a controller 45 as a control unit for the electric motor 16 are mounted on the equipment mounting plate 41 . The upper side of the device mounting plate 41 is closed with a second plate portion 48 . That is, the battery 42 , charger 43 and controller 45 are hidden by the second plate portion 48 . A top surface (a surface facing upward) of the second plate portion 48 faces the loading portion 5 .

The first plate portion 47 and the second plate portion 48 are a second loading platform 49 on which cargo can be loaded other than the loading portion 5 and the loading platform 6 . The second loading platform 49 can load cargo between the loading unit 5 and the loading platform 6 in the height direction of the electric vehicle 1 . In other words, the electric vehicle 1 can load loads on the loading section 5, the loading platform 6, and the second loading platform 49, and can load more loads than the conventional electric trolley.

The plurality of cross members 32 are elongated in the left-right direction (width direction) of the electric vehicle 1 . A plurality of cross members 32 connect and integrate the left and right main frames 31 .

A handle pipe 51 for supporting the handle 13 is laid across the tops of the left and right second loading platform pipes 36 .

The plurality of cross members 32 includes an upper cross member 32 a that spans the horizontal portions of the first loading platform pipes 35 of the left and right main frames 31 .

A braking pipe 52 that supports the braking mechanism 27 is provided in the central portion of the upper cross member 32a. The braking pipe 52 crosses the upper cross member 32a and extends in the swinging direction of the loading section 5. As shown in FIG.

The handle 13 is provided on the top of the handle pipe 51 . The steering wheel 13 electronically detects steering and outputs it to the controller 45 .

A pair of first wheels 12 are provided on the left and right sides of the front loading platform 7 .

There are as many electric motors 16 as there are first wheels 12 . Each electric motor 16 is connected to the first wheel 12 via a clutch mechanism 55 and a speed reducer 56 . Each electric motor 16 drives each first wheel 12 independently.

A casing 57 of the speed reducer 56 integrally supports the first wheel 12, the electric motor 16, the clutch mechanism 55, and the speed reducer 56 itself. The left and right casings 57 are swingably supported by the front ends of the left and right main frames 31 of the frame 11 . The integrated first wheel 12 , electric motor 16 , clutch mechanism 55 and speed reducer 56 are called a driving wheel unit 58 .

Suspension mechanisms 59 are installed between the left and right driving wheel units 58 and the main frame 31 . The suspension mechanism 59 buffers the impact transmitted from the swingable drive wheel unit 58 to the frame 11 and increases the grounding force of the first wheel 12 .

The loading unit 5 is arranged above the loading platform 6 at a distance of at least a first distance. The loading section 5 is a seat 63 having a seat surface 61 and a backrest 62 . The loading unit 5 is swingably supported by the top portions of the left and right second loading platform pipes 36 of the frame 11 . The loading section 5 has a pair of left and right shafts 65 supported by the second loading platform pipe 36 of the frame 11 , and the second loading platform pipe 36 has bearings 66 that support the shafts 65 of the loading platform 5 .

Note that the loading unit 5 may be a simple rectangular basket.

The switching mechanism 26 is provided side by side with the bearing portion 66 of the frame 11 . The switching mechanism 26 operates a lock pin (not shown) that is connected to the shaft portion 65 of the stacking unit 5 to restrict the swinging of the stacking unit 5, and controls and releases the rocking of the stacking unit 5 by the lock pin. a switching lever 67 for switching, a spring (not shown) that generates a force to move the lock pin in the direction of releasing the restriction on the swinging of the loading unit 5, and a cam that transmits the operation input to the lever 67 to the lock pin. It has a mechanism (not shown) and a cover 68 that hides the lock pin, spring and cam mechanism.

A spline is provided at the tip of the lock pin, and a spline hole into which the spline of the lock pin can be inserted and removed is provided at the tip of the shaft portion 65 of the loading section 5 . The switching mechanism 26 inserts the spline of the lock pin into the spline hole of the shaft portion 65 of the stacking portion 5 to restrict the swinging of the stacking portion 5 . Further, the switching mechanism 26 extracts the spline of the lock pin from the spline hole of the shaft portion 65 of the stacking portion 5 to allow the stacking portion 5 to swing.

The lever 67 swings substantially on the center line of the shaft portion 65 of the loading portion 5 .

The spring generates a spring force in a direction in which the spline of the lock pin comes out of the spline hole of the shaft portion 65 of the loading portion 5 .

The cam mechanism converts rocking motion of the lever 67 into linear motion of the lock pin. The cam mechanism includes, for example, a concave portion (not shown) on the end face of the lock pin and a convex portion (not shown) provided on the lever 67 and capable of being fitted into the concave portion of the lock pin.

When the lever 67 is swung and the projection of the lever 67 is fitted into the recess of the lock pin, the lock pin is moved by the spring force of the spring, and the spline of the lock pin comes out of the spline hole of the shaft portion 65 of the loading portion 5. . Then, the rocking motion of the loading unit 5 is permitted.

When the lever 67 is swung to release the convex portion of the lever 67 from the concave portion of the lock pin, the lock pin moves against the spring force of the spring, and the spline of the lock pin is aligned with the spline of the shaft portion 65 of the loading portion 5. inserted into the hole. As a result, the swinging motion of the loading unit 5 is restricted.

The braking mechanism 27 extends from each of two ends of a braking pipe 52 extending from the upper cross member 32 a of the frame 11 to the loading section 5 . The braking mechanism 27 is a so-called damper (shock absorber).

The steering wheel 13 is provided with an emergency stop operating section 71 , a forward/reverse switching operating section 72 , and a mode switching operating section 73 in addition to the accelerator operating section 15 .

The accelerator operation unit 15 is provided on the right handle 13 . The accelerator operation part 15 is arranged so that it can be gripped and operated by the fingers of the user who grips the right handle 13 .

The emergency stop operation unit 71 is provided on the left handle 13 . The emergency stop operation unit 71 is arranged so that it can be operated by being gripped by the fingers of the user who grips the left handle 13 .

The forward/reverse switching operation unit 72 is provided on the right handle 13 . The forward/reverse switching operation section 72 is arranged so that it can be operated by pushing it with the thumb of the user who grips the right handle 13 .

The mode switching operation section 73 is provided on the left handle 13 . The mode switching operation unit 73 is arranged so that it can be operated by pushing it with the thumb of the user who grips the left handle 13 .

The controller 45 drives the electric motor 16 based on the accelerator operation received by the accelerator operation unit 15 . That is, the controller 45 increases or decreases the output of the left and right electric motors 16 based on the accelerator signal obtained from the accelerator operation unit 15 to accelerate or decelerate the moving speed of the electric vehicle 1 .

The controller 45 varies the output of the left and right electric motors 16 based on the steering signal obtained from the steering wheel 13 to change the traveling direction of the electric vehicle 1 . That is, the controller 45 drives the left first wheel 12 more strongly than the right first wheel 12 when the steering wheel 13 is steered to the right, and drives the left first wheel 12 when the steering wheel 13 is steered to the left. The first wheel 12 on the right side of 12 is strongly driven.

The controller 45 stops the electric vehicle 1 by stopping the left and right electric motors 16 based on the emergency stop operation received by the emergency stop operation unit 71 . That is, the controller 45 stops the left and right electric motors 16 based on the emergency stop signal acquired from the emergency stop operation unit 71 to stop the electric vehicle 1 .

The controller 45 switches the rotation direction of the left and right electric motors 16 based on the forward/reverse switching operation received by the forward/rearward switching operation unit 72, and shifts the electric vehicle 1 to the forward mode or the reverse mode. That is, the controller 45 switches the rotation direction of the left and right electric motors 16 based on the forward/reverse switching signal obtained from the forward/rearward switching operation unit 72, and shifts the electric vehicle 1 to the forward mode or the reverse mode.

The controller 45 connects or disconnects the clutch mechanism based on the electric/hand-held mode switching operation received by the mode switching operation unit 73, and shifts the electric moving body 1 to the electric mode or the hand-held mode. That is, the controller 45 connects or disconnects the clutch mechanism based on the mode switching signal obtained from the mode switching operation section 73, and shifts the electric movable body 1 to the electric mode or the manual mode.

The cargo bed 6 includes a pair of left and right second main frames 81, a second cross member 82 that spans the left and right second main frames 81, and a second cross member 82 that spans the left and right second main frames 81. a boarding plate 83 supported by the .

The boarding plate 83 is, for example, sheet metal. The boarding plate 83 allows a person to stand and board in the unfolded state.

The handle portion 22 is integrated with the central portion of the second cross member 82 . The grip portion 22 may be provided with a switch or button for activating the electric fixing mechanism, that is, for advancing and retracting the lock pin.

A pair of first casters 21 are provided on the left and right sides of the rear cargo bed portion 8 . The first caster 21 is provided at the rear end of the second cross member 82 . In the unfolded state of the loading platform 6, the first casters 21 cooperate with the first wheels 12 to support the electric vehicle 1 so that it can travel. In the stowed state of the loading platform 6, the first casters 21 are separated from the ground surface. The first caster 21 is, for example, a ball caster. It has a sphere 21a that contacts the ground and a housing 21b that holds the sphere 21a so that it can roll.

A pair of second casters 29 are provided on the left and right sides of the rear carrier part 8 . A second caster 29 is provided at the front end of the second cross member 82 . In the unfolded state of the loading platform 6, the second casters 29 are separated from the ground surface. In the stowed state of the loading platform 6, the second casters 29 cooperate with the first wheels 12 to support the electric vehicle 1 so that it can travel. The second caster 29 is, for example, a ball caster. It has a sphere 29a that contacts the ground and a housing 29b that holds the sphere 29a so that it can roll.

In addition, the second caster 29 may always be in contact with the ground regardless of the swinging position of the loading platform 6 . For example, the second caster 29 is provided so as to be able to swing with respect to the loading platform 6 and is always in contact with the ground surface. Further, the second casters 29 may be provided at the rear ends of the left and right main pipes 33 of the front cargo bed portion 7 so as to always be in contact with the ground regardless of the rocking position of the cargo bed 6 .

The support shaft portion 9 swingably connects the loading platform 6 to the frame 11 and supports the loading platform 6 so as to swing between the unfolded state and the retracted state. The support shaft portion 9 includes, for example, a first bearing (not shown) provided on the main frame 31 of the front carrier portion 7, a second bearing (not shown) provided on the second main frame 81 of the rear carrier portion 8, and a second bearing (not shown) provided on the second main frame 81 of the rear carrier portion 8. A bolt (not shown) that is inserted through the first bearing and the second bearing to connect the frame 11 and the bed 6 so as to swing, and a nut (not shown) that integrates the frame 11 and the bed 6 are provided. ing.

The electric vehicle 1 may include a fixing mechanism (not shown) that fixes the folded cargo bed 6 . The fixing mechanism includes, for example, a lock pin (not shown) that is provided on the front cargo bed portion 7 and that can be advanced and retracted, and a lock hole (not shown) that is provided on the second main frame 81 of the rear cargo bed portion 8 and allows insertion and removal of the lock pin. ), and The lock pin may be of a manual type, or may be electrically inserted into and removed from the lock hole. When the lock pin is inserted into the lock hole, the rear carrier part 8 is fixed in the stowed state. When the lock pin comes out of the lock hole, the rear carrier part 8 can swing and can be deployed to the deployed state.

The loading platform fixing portion 25 includes a pair of hooks 85 provided on the loading portion 5, for example. The hook 85 hooks the grip portion 22 of the loading platform 6 to hold the loading platform 6 in the stored state. The loading platform fixing portion 25 may be provided with a mode switching detector (not shown) instead of or in addition to the mode switching operation portion 73 of the handle 13 . The mode switching detector is, for example, a microswitch that detects whether or not the handle 22 of the loading platform 6 is hooked on the hook 85 . The controller 45 connects or disconnects the clutch mechanism based on the mode switching signal obtained from the mode switching detector, and shifts the electric movable body 1 to the electric mode or the manual mode.

It is preferable that the loading section 5 is switched to the fixed state by the switching mechanism 26 when the handle portion 22 of the loading platform 6 is hooked on the hook 85 to hold the loading platform 6 in the stored state.

Further, the loading platform fixing portion 25 may be provided on the frame 11 .

FIG. 4 is a plan view of the electric movable body according to the embodiment of the present invention.

As shown in FIG. 4, the steering wheel 13 of the electric vehicle 1 according to this embodiment is steerably supported by a steering mechanism 91 . The handle 13 is arranged so that it can be easily grasped by the hand of the user standing on the cargo bed 6 when the cargo bed 6 is deployed. Moreover, the handle 13 is arranged so that it can be easily grasped by the hand of the user who pushes the electric vehicle 1 in the stowed state of the carrier 6 .

The steering mechanism 91 includes a steering wheel 13, a steering wheel support portion 92 that supports the steering wheel 13 so as to be movable along an arc trajectory t, a steering wheel position detection portion 93 that detects the movement position of the steering wheel 13, and a neutral position of the steering wheel 13 along the arc trajectory t. and a restoring force generating part 95 for generating a force for returning to the position.

The handle support portion 92 includes an arc-shaped pipe portion 96 and an in-pipe moving body 97 that is housed in the pipe portion 96 and movable along the arc trajectory t and that is fixed to the handle 13 . .

The radius of curvature R of the tubular portion 96 is set at, for example, 40 centimeters so that a user standing on the loading platform 6 can comfortably grip the handle 13 . The center of curvature of the tube portion 96 is arranged in the center of the loading platform 6 so as to pass through the midline of the user standing on the loading platform 6 .

The in-pipe moving body 97 can move in the pipe portion 96 along the longitudinal direction of the pipe portion 96, that is, along the arc track t. The in-tube moving body 97 has a pair of arm portions 98 projecting outside the tube portion 96 . A pair of arm portions 98 are provided at respective ends of the in-tube moving body 97 and extend toward the rear of the electric moving body 1 . Left and right handles 13 are fixed to projecting ends of the respective arm portions 98 . The in-tube moving body 97 and the handle 13 may be integrated.

The handle position detection part 93 is connected to an arc-shaped rack 101 fixed to the handle support part 92 , a handle position detection gear 102 meshed with the rack 101 , and the handle position detection gear 102 to detect the position of the handle 13 . and a rotation angle sensor 103 for detecting.

The center of curvature of the rack 101 preferably coincides with the center of the tubular portion 96 of the handle support portion 92 .

The rotation angle sensor 103 is, for example, a rotary encoder.

The return force generators 95 are provided at both ends of the pipe portion 96 and apply a force to return the in-pipe moving body 97 to the neutral position. The restoring force generator 95 is an elastic body represented by, for example, a coil spring. The restoring force generating portion 95 is provided between the end portion of the pipe portion 96 and the end portion of the in-pipe moving body 97 . The return force generator 95 returns the handle 13 and the in-pipe moving body 97 to the neutral position while no external force acts on the steering mechanism 91 . This neutral position is a position where the left and right handles 13 are arranged symmetrically with respect to the center line extending in the front-rear direction of the electric vehicle 1 .

In other words, the restoring force generator 95 pushes back or pulls the steering wheel 13 to the left when the steering wheel 13 is steered to the right. Further, the restoring force generating section 95 pushes back or pulls the steering wheel 13 to the right side when the steering wheel 13 is steered leftward.

Note that the restoring force generating portion 95 may be provided at at least one end portion of the pipe portion 96 . In other words, the restoring force generating part 95 may be provided at least one end of the pipe part 96 to apply a force to return the in-pipe moving body 97 to the neutral position.

In addition, the controller 45 increases or decreases the difference in driving force between the left and right first wheels 12 according to the movement position of the steering wheel 13 detected by the steering wheel position detector 93 . Specifically, the controller 45 drives the left and right electric motors 16 with substantially the same output when the movement position of the steering wheel 13 detected by the steering wheel position detector 93 is in the neutral position. The controller 45 increases the output difference between the left and right electric motors 16 as the movement position of the steering wheel 13 detected by the steering wheel position detection unit 93 moves away from the neutral position, in other words, as the steering wheel 13 approaches the maximum steering angle of either the left or right. make different. The controller 45 maximizes the output difference between the left and right electric motors 16 when the steering wheel 13 reaches the left and right maximum steering angles.

5 and 6 are cross-sectional views of the driving wheel unit of the electric vehicle according to the embodiment of the present invention.

Note that FIG. 5 shows a state in which driving force can be transmitted from the electric motor 16 to the first wheel 12 . FIG. 6 shows a state in which transmission of driving force from the electric motor 16 to the first wheel 12 is interrupted and the first wheel 12 can roll freely.

As shown in FIGS. 5 and 6, the drive wheel unit 58 of the electric vehicle 1 according to this embodiment includes the first wheel 12, the electric motor 16, the clutch mechanism 55, and the speed reducer 56, as well as a brake 109. there is

Electric motor 16 includes rotor 111 , stator 112 , case 113 covering rotor 111 and stator 112 , and output shaft 114 integrated with rotor 111 . The output shaft 114 is press-fitted into the rotor 111 . The output shaft 114 can move in its rotation centerline direction (axial direction).

The speed reducer 56 transmits driving force from the electric motor 16 to the first wheel 12 . The reducer 56 is, for example, a planetary gear reducer. The speed reducer 56 includes a sun gear 116 integrated with the output shaft of the electric motor 16, a plurality of planetary gears 117 meshing with the sun gear 116, a planetary carrier 118 supporting the plurality of planetary gears 117, and a plurality of planetary gears. and an internal gear 119 surrounding the planetary gear 117 and meshing with the plurality of planetary gears 117 .

The speed reducer 56 includes a sun bearing 121 that supports the output shaft of the electric motor 16 integrated with the sun gear 116 , a planet carrier bearing 122 that supports the planet carrier 118 , and an axle bearing 126 that supports the axle 125 of the first wheel 12 . and have.

Further, the speed reducer 56 includes a sun gear oil seal 128 that seals the gap between the output shaft of the electric motor 16 and the casing 57 of the speed reducer 56, and a carrier oil that seals the gap between the planetary carrier 118 and the casing 57 of the speed reducer 56. a seal 129;

The sun gear 116 is integrated with one end of the output shaft 114 of the electric motor 16 . That is, the sun gear 116 is integrated with the output shaft 114 of the electric motor 16 and is movable in the direction of the rotation centerline thereof. The sun gear 116 meshes with the planetary gear 117 to transmit the driving force from the electric motor 16 to the first wheel 12 , and disengages from the planetary gear 117 to prevent transmission of the driving force from the electric motor 16 to the first wheel 12 . Cut off.

A planet carrier 118 is integral with the axle of the first wheel 12 . Thus, planet carrier bearing 122 cooperates with axle bearing 126 to support planet carrier 118 and first wheel 12 .

The internal gear 119 is fixed to and integrated with the casing 57 of the speed reducer 56 .

The clutch mechanism 55 moves, for example, the output shaft 114 of the electric motor 16 integrated with the sun gear 116 of the speed reducer 56 in the axial direction of the output shaft 114 to mesh the planetary gear 117 and the sun gear 116, or By disengaging the gear 117 and the sun gear 116, the power transmission between the electric motor 16 and the first wheel 12 is connected or disconnected. The clutch mechanism 55 utilizes a ball screw 131, for example. The clutch mechanism 55 includes a nut portion 132 provided at the other end of the output shaft 114 of the electric motor 16 (the end opposite to the end where the sun gear 116 is integrated), and a screw shaft 133 inserted into the nut portion. , a sphere 21a interposed between the nut portion and the screw shaft so as to be rollable, and a circulation portion that circulates the sphere as the screw shaft rotates.

The clutch mechanism 55 may be manual or electric. The electric clutch mechanism 55 includes an electric motor 135 that rotates the screw shaft 133 and a power transmission mechanism that transmits power from the electric motor 135 to the screw shaft 133, such as two meshed gears 136.

When the electric movable body 1 is manually pushed, the ball screw 131 is rotated to move the output shaft 114 of the electric motor 16, the sun gear 116 is separated from the planetary gear 117, and the electric motor 16 and the first wheel 12 are separated. cut off the transmission of power. When power transmission between the electric motor 16 and the first wheel 12 is cut off, the first wheel 12 rolls freely. When the electric moving body 1 is driven by the power of the electric motor 16, the ball screw is rotated to move the output shaft 114 of the electric motor 16, and the planetary gear 117 is meshed with the sun gear 116 so that the electric motor 16 and the first wheel are engaged. 12 to connect the power transmission.

Brake 109 is, for example, an electromagnetic brake. The brake 109 brakes the first wheel 12 by increasing the rotation resistance of the output shaft 114 of the electric motor 16 .

The electric vehicle 1 according to the present embodiment includes a handle support portion 92 that supports the handle 13 so as to be movable along an arc track t, a handle position detection portion 93 that detects the movement position of the handle 13, and a handle 13 that moves rightward. When steered, the left first wheel 12 is driven more strongly than the right first wheel 12, and when the steering wheel 13 is steered leftward, the right first wheel 12 is driven more strongly than the left first wheel 12. and a controller 45 that causes the Therefore, the electric vehicle 1 can operate the handle 13 by twisting the upper body from the waist. In other words, the electric vehicle 1 can be easily steered without using the strength of the arm even by a user who has a disease in bending and stretching the arm or a user who has weakened muscle strength for bending and stretching the arm. can do. In other words, the user of the electric vehicle 1 can change the traveling direction of the electric vehicle 1 by looking at the whole body.

The electric vehicle 1 according to the present embodiment also includes a return force generator 95 that generates a force for returning the handle 13 to the neutral position on the arc trajectory t. Therefore, the electric vehicle 1 enables easy steering from a right turn and from a left turn to a straight run.

Furthermore, when the steering wheel 13 is steered rightward, the electric vehicle 1 according to the present embodiment drives the left first wheel 12 more strongly than the right first wheel 12, and the steering wheel 13 is steered leftward. Then, the first wheel 12 on the right side is driven more strongly than the first wheel 12 on the left side. In other words, the electric vehicle 1 changes its traveling direction depending on the difference in driving force between the left and right first wheels 12 . Therefore, the electric vehicle 1 does not require a drive source for steering.

Furthermore, the electric vehicle 1 according to the present embodiment includes an arc-shaped tube portion 96 and an in-pipe moving body that is housed in the tube portion 96 and movable along an arc trajectory t and fixed to the handle 13 . A body 97 and a restoring force generating part 95 provided at at least one end of the pipe part 96 and applying a force for returning the in-pipe moving body 97 to the neutral position. Therefore, the electric vehicle 1 enables smooth steering of the steering wheel 13 along the arc trajectory t.

In addition, the electric vehicle 1 according to the present embodiment increases or decreases the difference in driving force between the left and right first wheels 12 according to the moving position of the steering wheel 13 detected by the steering wheel position detection unit 93 . Therefore, the electric vehicle 1 enables an intuitive direction change according to the steering amount of the steering wheel 13 .

Furthermore, the electric moving body 1 according to the present embodiment may be provided with the restoring force generating portions 95 provided at both ends of the pipe portion 96 to apply a force to the in-pipe moving body 97 to return. This allows for easier steering from right turns and from left turns to straight ahead.

Furthermore, the electric vehicle 1 according to the present embodiment meshes with the planetary gear 117 to transmit the driving force from the electric motor 16 to the first wheel 12, and releases the meshing with the planetary gear 117 so that the electric motor 16 can be transferred from the first wheel 12 to the first wheel 12. It has a speed reducer 56 with a sun gear 116 that cuts off drive to the wheels 12 . Therefore, the electric vehicle 1 is not only moved by the driving force of the electric motor 16, but also can be easily switched to a wheelbarrow-like configuration that is pushed by the user's hand.

Therefore, the electric vehicle 1 according to the present embodiment can reduce the burden on the user's arm during steering, and is easy to use.

DESCRIPTION OF SYMBOLS 1... Electric moving body 5... Loading part 6... Cargo bed 7... Front bed part 8... Rear bed part 9... Support shaft part 11... Frame 12... First wheel 13... Handle 15... Accelerator Operation part 16... Electric motor 21... First caster 21a... Sphere 21b... Housing 22... Handle part 25... Cargo platform fixing part 26... Switching mechanism 27... Braking mechanism 29... Second caster 29a... Sphere 29b Housing 31 Main frame 32 Cross member 32a Upper cross member 33 Main pipe 35 First carrier pipe 36 Second carrier pipe 41 Equipment mounting plate 42 Battery , 43... Charger, 45... Controller, 47... First plate portion, 48... Second plate portion, 49... Second loading platform, 51... Handle pipe, 52... Braking pipe, 55... Clutch mechanism, 56... Reducer, 57... Casing, 58... Driving wheel unit, 59... Suspension mechanism, 61... Seat surface, 62... Backrest, 63... Seat, 65... Shaft part, 66... Bearing part, 67... Lever, 68... Cover, 71... Emergency stop Operation unit 72 Forward/backward switching operation unit 73 Mode switching operation unit 81 Second main frame 82 Second cross member 83 Boarding plate 85 Hook 91 Steering mechanism 92 Handle support Part 93... Handle position detection part 95... Restoring force generation part 96... Tube part 97... Moving body in tube 98... Arm part 101... Rack 102... Handle position detection gear 103... Rotation angle sensor 109 111 Rotor 112 Stator 113 Case 114 Output shaft 116 Sun gear 117 Planetary gear 118 Planet carrier 119 Internal gear 121 Sun bearing 122 Planet Carrier bearing 125 Axle 126 Axle bearing 128 Sun gear oil seal 129 Carrier oil seal 131 Ball screw 132 Nut portion 133 Screw shaft 135 Electric motor 136 Gear.

Claims (4)

A pair of left and right wheels,
an electric motor for independently driving each of the wheels;
a handle to be held by a user;
a handle support part that supports the handle so as to be movable along an arc trajectory centered on the user gripping the handle;
a handle position detection unit that detects the movement position of the handle;
a return force generator that generates a force to return the handle to the neutral position of the circular arc track;
an accelerator operation unit that receives an accelerator operation;
The electric motor is driven based on the accelerator operation received by the accelerator operation unit, and when the steering wheel moves rightward, the left wheel is driven more strongly than the right wheel, and when the steering wheel moves leftward, the left wheel is driven. A control unit that strongly drives the wheel on the right side of the wheel of
The handle support part
an arc-shaped tube;
an in-pipe moving body that is housed in the pipe portion and movable along the arcuate trajectory and is fixed to the handle;
The electric moving body, wherein the restoring force generating section is provided at at least one end portion of the pipe section and applies a force for returning the in-pipe moving body to a neutral position. A pair of left and right wheels,
an electric motor for independently driving each of the wheels;
a handle to be held by a user;
a handle support part that supports the handle so as to be movable along an arc trajectory centered on the user gripping the handle;
a handle position detection unit that detects the movement position of the handle;
a return force generator that generates a force to return the handle to the neutral position of the circular arc track;
an accelerator operation unit that receives an accelerator operation;
The electric motor is driven based on the accelerator operation received by the accelerator operation unit, and when the steering wheel moves rightward, the left wheel is driven more strongly than the right wheel, and when the steering wheel moves leftward, the left wheel is driven. A control unit that strongly drives the wheel on the right side of the wheel of
The control unit increases or decreases the difference in driving force between the left and right wheels according to the movement position of the steering wheel detected by the steering wheel position detection unit. 2. The electric moving body according to claim 1 , wherein the restoring force generators are provided at both ends of the tube part and apply the restoring force to the moving body in the tube. A planetary gear reducer for transmitting driving force from the electric motor to the wheels,
The planetary gear reducer is
a planetary gear;
While meshing with the planetary gears to transmit driving force from the electric motor to the wheels, it disengages from the meshing with the planetary gears to block the transmission of driving force from the electric motor to the wheels, moving in the rotation centerline direction. A motorized vehicle according to any one of claims 1 to 3 , comprising a possible sun gear.

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