JPH0652301U - Control device for walking electric vehicle - Google Patents

Abstract

(57) [Summary] (Modified) [Purpose] To provide a walk-behind electric vehicle with good operability. [Structure] The left and right motors ML and MR for driving the left and right drive wheels 1L and 1R are configured to be able to apply speed command signals to the left and right accelerator levers 3L and 3R.
When only the accelerator lever on one side is operated, the speed command signal of the accelerator lever 3L or 3R on the operating side is simultaneously applied to the left and right motors ML and MR. [Effect] The setting operation of the traveling speed and the turning operation can be easily performed.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 This invention relates to a control device for a walk-behind electric vehicle such as an electric shopping cart or an electric carrier.

[0002]

[Prior art]

 Conventionally, a control device for this type of walk-behind electric vehicle is disclosed in Japanese Utility Model Publication No. 58-32406 and Japanese Unexamined Patent Publication No. 4-143172. The technique disclosed in Japanese Utility Model Publication No. Sho 58-32406 is configured to drive the left and right drive wheels by a motor for the left and right, and to make a turn by decelerating the speed of the drive wheel on one side by a push button switch. However, with this technology, it is necessary to operate the accelerator lever that sets the traveling speed in addition to the left and right pushbutton switches that control the turning of the aircraft, and the operation is complicated. Further, in the technique described in Japanese Patent Application Laid-Open No. 4-143172, the handle is configured to be rotatable with respect to the machine body, and a rotation difference is generated between the left and right drive motors according to the rotation angle of the handle to rotate. However, even with this technique, it is necessary to operate the speed setting device that sets the traveling speed together with the turning operation of the handle, and the operation is complicated. Further, the means for rotating the steering wheel with respect to the body of the walking type vehicle is extremely unstable and difficult to operate when traveling on a flat road, an uneven road or a sloping road.

[0003]

[Problems to be solved by the device]

 This invention intends to solve the above-mentioned drawbacks of the prior art and provide a walk-behind electric vehicle with good operability.

[0004]

[Means for Solving the Problems]

 The left and right drive shafts 1L and 1R are configured to be driven by the left and right motors ML and MR, and the left and right accelerator levers 3L that apply speed command signals to the left and right motors ML and MR to the handle 2 part. 3R is provided to drive the left and right drive wheels 1L and 1R at different speeds so that they can be steered, and when only one of the left and right accelerator levers 3L and 3R is operated, The control device for a walk-behind electric vehicle is configured so that a speed command signal from the accelerator lever 3L or 3R on the operating side can be simultaneously applied to the left and right motors ML and MR.

[0005]

[Function of the device]

 When traveling on a road surface that does not require a large-angle turning operation and has little turning resistance, if only one of the left and right accelerator levers 3L and 3R is operated, the other accelerator lever 3L or 3R is operated. When the non-operation of 3R or 3L is detected, a speed command signal proportional to the operation amount of the accelerator lever on the operating side is simultaneously applied to the left and right motors ML and MR, and the vehicle travels straight at this command speed. During this traveling, a turning operation at a small angle can be performed relatively easily by the operator forcibly applying an external force difference to both wheels. Also, when a turning operation at a large angle is required, when traveling on a road surface with a large turning resistance, or when a powerless pilot is operating, the left and right accelerator levers 3L and 3R should be operated simultaneously with both hands. By detecting this operation, special speed command signals are applied to the left and right motors ML and MR, respectively. Therefore, by operating the accelerator lever 3L or 3R on the turning side to the deceleration side, or operating the accelerator lever 3R or 3L on the opposite side to the turning side to the speed increasing side, a rotation difference is provided between the left and right motors ML and MR. Perform turning operation.

[0006]

[Effect of device]

 Since the present invention is configured as described above, it is not necessary to perform a turning operation at a large angle, and when traveling on a road surface with little turning resistance, only one side of the left and right accelerator levers 3L or 3R is used. Is operated to control the speed to give the same speed signal to the left and right motors ML and MR, and the operator can forcibly make a small angle turning by applying an external force difference to both wheels. Is simple and easy, and when a turning operation with a large angle is required, the left and right motors ML and MR are given special speed command signals by operating the left and right accelerator levers 3L and 3R at the same time. And can easily make a turn.

[0007]

【Example】

 In the example shown in the figure, the control device of the present invention is applied to a walking assistance vehicle, and the walking assistance vehicle is configured as follows. That is, the vehicle body 4 of the walking assistance vehicle is equipped with a battery 5, left and right motors ML, MR, a control box 6, etc., and left and right drive front wheels 1L, 1R driven by the left and right motors ML, MR. Is mounted. A rotating shaft 7 is pivotally supported on the upper rear part of the vehicle body 4, and left and right arms 8, 8 extending downward and rearward are attached to both ends of the rotating shaft 7, respectively. The left and right rear wheels 9, 9 of caster structure are mounted on the rear end.

Base parts of a pair of handle rods 10 and 10 are attached to the left and right sides of the front-rear intermediate portion of the vehicle body 4, and the handle rods 10 and 10 are obliquely extended rearward and upward, and the rear portions thereof are provided. The holding portion 11 is formed by bending it horizontally and connecting its left and right rear ends in a loop. Further, the horizontal bending start ends of the left and right handle rods 10 are connected by a connecting pipe 12. The handle rods 10 and 10 are configured to be rotatable around a mounting portion to the vehicle body 4 so that the mounting angle thereof can be adjusted, and the handle rods 10 and 10 are configured to be extendable and contractible at an intermediate portion thereof. It is adjustable. 13 is the fixing tool. The handle 2 is constituted by these.

A storage box 14 is fixed to the vehicle body 4, a lid 15 is provided so as to be openable and closable, and the upper surface of the lid 15 is also used as a resting chair. Reference numeral 16 denotes an operation box, which is attached to the connecting pipe 12 of the handle rods 10, 10 and has a power switch 17, a speed change switch 18, etc., which will be described later, disposed on the upper surface thereof, and further the left and right accelerator levers from both sides of the operation box 16. 3L and 3R are extended along the holding portion 11 of the handle rods 10 and 10.

Next, FIG. 2 is a block diagram showing a connection state of the input / output means and the control means, and the CPU 19 as a central processing unit is configured to be capable of input / output as follows. Reference numeral 17 is a power switch, and a key switch is used to activate the CPU 19. 3L is an accelerator lever on the left side. Specifically, the command voltage is changed by adjusting a variable resistor, and the command voltage is input to the CPU 19 via the A / D converter. Similarly, 3R is an accelerator lever on the right side, which changes the command voltage by adjusting the variable resistor and inputs it to the CPU 19 via the A / D converter.

Reference numeral 18 denotes a speed change switch, which changes a reference voltage to be compared with the above command voltage to set a two-step speed of high and low. Reference numeral 20 denotes a power supply circuit, which connects the battery 5 and the left and right motors ML and MR. The motor drive circuit 21 and the dynamic braking circuit 22 are connected to the power supply circuit 20 of the left motor ML, and both of these circuits 21 and 22 are operated by the CPU 19 to calculate the command voltage of the left accelerator lever 3L. It is connected to the output circuit of the motor drive pulse signal to be output, and further, the dynamic braking circuit 22 is connected via an inverter. The main relay 23 is connected by turning on the power switch 17 described above.

A shunt resistor 24 is provided in the power generation circuit 20 on the earth side of the motor drive circuit 21 and the dynamic braking circuit 22, detects a voltage generated in the shunt resistor 24, and amplifies the voltage with an operational amplifier. The current value is input to the CPU 19 via the drive current detection circuit 25 and used for current control or the like. Similarly to the above-mentioned left-side motor ML, the right-side motor MR is also connected to the power supply circuit 20, the motor drive circuit 21, and the dynamic braking circuit 22, and is similarly operated by the command voltage of the right-side accelerator lever 3R. Controlled. A shunt resistor 24 and a drive current detection circuit 25 are also provided in the power supply circuit 20 of the motor MR on the right side so that the current can be controlled.

Reference numerals 26 and 26 denote rotation sensors, which detect the rotation speeds of the left and right motors ML and MR and input them to the CPU 19 for use in rotation speed control. To start traveling, the power switch 17 is turned on to activate the CPU 19, and the speed change switch 18 is used to select the maximum speed. When traveling on a road surface with little turning resistance without requiring a large turning operation, if only one of the left and right accelerator levers 3L and 3R is operated, only the accelerator lever 3L or 3R is operated. The command voltage from the lever is input to the CPU 19, and a motor drive pulse having a duty ratio corresponding to this command voltage is output. At this time, the other accelerator lever is not operated and the command voltage is zero. If it is determined by the above, the motor drive pulse having the above duty ratio is simultaneously applied to the left and right motors ML and MR to perform straight traveling. During this traveling, a small-angle turning operation can be performed relatively easily by the operator forcibly applying an external force difference to both wheels.

Further, when a turning operation at a large angle is required, when traveling on a road surface with a large turning resistance, or when a powerless operator operates, the left and right accelerator levers 3L and 3R can be simultaneously operated by both hands. When operated, a command voltage corresponding to the operation amount of each accelerator lever 3L, 3R is input to the CPU 19, and a motor drive pulse having a duty ratio corresponding to the command voltage is applied to the left and right motors ML, MR. Therefore, by operating the accelerator lever 3L or 3R on the turning side to the deceleration side, or operating the accelerator lever 3R or 3L on the opposite side to the turning side to the speed increasing side, a rotation difference is provided between the left and right motors ML and MR. Perform turning operation.

[Brief description of drawings]

FIG. 1 is a perspective view.

FIG. 2 is a control block diagram.

FIG. 3 is a flow chart diagram.

[Explanation of symbols]

 1L Left drive wheel 1R Right drive wheel 2 Handle 3L Left accelerator lever 3R Right accelerator lever ML Left motor MR Right motor

Claims (1)

[Scope of utility model registration request] 1. The left and right drive shafts (1L), (1R) are configured to be drivable by left and right motors (ML), (MR), and the left and right motors (ML) are attached to a handle (2).
The left and right drive wheels (1) are provided by providing left and right accelerator levers (3L) and (3R) for applying a speed command signal to (MR).
L) and (1R) are configured to be steerable by driving at different speeds, and the left and right accelerator levers (3L) and (3R)
If only one of the accelerator levers is operated, the speed command signal from the operated accelerator lever (3L) or (3R) can be applied to the left and right motors (ML) and (MR) simultaneously. A control device for a walk-behind electric vehicle.