JPH0775219A - Motor-driven vehicle - Google Patents
Motor-driven vehicleInfo
- Publication number
- JPH0775219A JPH0775219A JP6179487A JP17948794A JPH0775219A JP H0775219 A JPH0775219 A JP H0775219A JP 6179487 A JP6179487 A JP 6179487A JP 17948794 A JP17948794 A JP 17948794A JP H0775219 A JPH0775219 A JP H0775219A
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- battery
- motor
- electric vehicle
- light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/34—Wheel chairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/50—Structural details of electrical machines
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、高齢者等が移動に使用
する電動車椅子の如き電動車両に関し、特に従来の手動
車両を簡単に電動車両に改良できたりするものに関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle such as an electric wheelchair that is used by elderly people to move, and more particularly to an electric vehicle that can be easily improved from a conventional manual vehicle.
【0002】[0002]
【従来の技術】この種の電動車両の従来例を図12の電
動車椅子を例にして説明する。電動車椅子1は、車体2
と車輪3,4、モータ5と、制御装置6と、バッテリー
7等から構成されている。車体2は一般にパイプフレー
ムで構成され、グリップ10が形成された手押しハンド
ル11、背もたれ12、シート13、肘当て14、フッ
トプレート15、2個の駆動車輪3と2個の自在輪4等
が取り付けられている。2. Description of the Related Art A conventional example of this type of electric vehicle will be described with reference to the electric wheelchair shown in FIG. The electric wheelchair 1 has a vehicle body 2
It is composed of a wheel 3, 4, a motor 5, a controller 6, a battery 7 and the like. The vehicle body 2 is generally composed of a pipe frame, and is provided with a push handle 11 having a grip 10, a backrest 12, a seat 13, an elbow pad 14, a foot plate 15, two drive wheels 3 and two free wheels 4 and the like. Has been.
【0003】モータ5は一般的にはギヤ付直流モータが
使用され、一個の駆動輪3に一つのモータが歯車伝動機
構を介して連結されている。モータ5又は歯車伝動機構
にはクラッチが取り付けられ、クラッチを切ると駆動輪
3がフリーとなる。そして電動車椅子1の背後に立った
介護人が手押しハンドル11のグリップ10を握って、
電動車椅子1を前進又は後進させることができる。As the motor 5, a DC motor with a gear is generally used, and one motor is connected to one drive wheel 3 via a gear transmission mechanism. A clutch is attached to the motor 5 or the gear transmission mechanism, and when the clutch is disengaged, the drive wheels 3 become free. Then, the caregiver standing behind the electric wheelchair 1 grips the grip 10 of the push handle 11,
The electric wheelchair 1 can be moved forward or backward.
【0004】制御装置6には、操縦用のジョイスティッ
クレバー16、電源スイッチ、バッテリーメーター等が
取り付けられている。ジョイスティックレバー16は、
レバー16の倒された方向で方向制御を行い、レバー1
6の倒された角度で速度制御を行うものである。そのた
めレバー16の倒された角度を電子的に検出し、それに
応じてモータ5の回転数を変えるようになっている。ま
たバッテリー7は、一般的には自動車用の鉛蓄電池が用
いられる。なお実開平1−172826号公報に開示さ
れているように、モータのコイルを固定の車軸側に取り
付け、コイルに対する磁石を可動の回転体側に取り付
け、モータを車輪側に設けるものが知られているが、電
池は車体側に設けられている。A joystick lever 16 for control, a power switch, a battery meter and the like are attached to the control device 6. The joystick lever 16
Direction control is performed according to the tilted direction of the lever 16, and the lever 1
The speed is controlled at the tilted angle of 6. Therefore, the tilted angle of the lever 16 is electronically detected, and the rotation speed of the motor 5 is changed accordingly. Further, as the battery 7, a lead acid battery for an automobile is generally used. As disclosed in Japanese Utility Model Publication No. 1-172826, it is known that a coil of a motor is attached to a fixed axle side, a magnet for the coil is attached to a movable rotating body side, and the motor is provided on a wheel side. However, the battery is provided on the vehicle body side.
【0005】上述した電動車椅子は、電動で推進される
か、駆動車輪3のクラッチを切って手押しされるかのい
ずれかである。しかし乗る人の上半身が健全である場合
には、電動に頼ることなく、自分で駆動する手動式の車
椅子もある。このような手動式車椅子を図13により、
説明する。The above-mentioned electric wheelchair is either propelled electrically or manually pushed with the clutch of the drive wheels 3 disengaged. However, if the occupant's upper body is healthy, there are manual wheelchairs that can be driven by themselves without relying on electric power. Such a manual wheelchair is shown in FIG.
explain.
【0006】図13において、駆動輪17は22、24
インチの大径のものが使用され、図12の如きモータ、
制御部、バッテリー、ジョイスティックレバーが設けら
れていない。また丸パイプを駆動輪17よりやや小径の
リング状に成形したハンドリム18を図示されない取付
部を介して駆動輪17の外側に取り付けている。車椅子
に乗る人がこのハンドリム18を手で把持して駆動輪1
7を回し、車両を前進又は後進させる操作力を与える。In FIG. 13, the drive wheels 17 are 22, 24.
The one with a large diameter of inch is used.
The control unit, battery and joystick lever are not provided. Further, a hand rim 18 formed by forming a round pipe into a ring shape having a diameter slightly smaller than that of the drive wheel 17 is attached to the outside of the drive wheel 17 via an attachment portion (not shown). A person in a wheelchair grips the hand rim 18 with his / her hand and drives the wheel 1.
7 is turned to give an operation force for moving the vehicle forward or backward.
【0007】[0007]
【発明が解決しようとする課題】ところで、上記のよう
な車椅子においては、一般的に上半身の力が保たれてい
る人は手動式の車椅子を使用し、老人等下半身のみなら
ず、上半身の力も衰えた人は電動式の車椅子を使用す
る。しかしながら、上記の手動式の車椅子を用いている
人が上半身の力の衰えを感じたりして、電動式の車椅子
に変更しようとした場合、手動式車椅子と電動式車椅子
とではその構成が全く異なるものであるために、今まで
使用した手動式車椅子を放棄して新たに電動車椅子を用
意する必要があった。By the way, in the wheelchair as described above, generally, a person whose upper body strength is maintained uses a manual type wheelchair so that not only the lower body such as an old person but also the upper body strength can be improved. People who have declined use electric wheelchairs. However, when a person using the above manual wheelchair feels the weakness of the upper body and tries to switch to an electric wheelchair, the configuration is completely different between the manual wheelchair and the electric wheelchair. Therefore, it was necessary to abandon the manual wheelchair used up to now and prepare a new electric wheelchair.
【0008】そこで、本発明は、上述のような場合で
も、既存の手動式車両を電動推進車両に改造できる電動
車両を提供することを目的とする。Therefore, an object of the present invention is to provide an electric vehicle in which the existing manual type vehicle can be converted into an electric propulsion vehicle even in the case as described above.
【0009】[0009]
【課題を解決するための手段】上記目的を達成する電動
車両は、電池によって駆動される駆動部が車輪内に組み
込まれ、高齢者等が移動に使用する電動車両であって、
前記電池を前記車輪内に組み込み、必要に応じて前記車
輪側に前記駆動部の制御を行う制御部を更に組み込み、
場合によって前記制御部は前記車輪側の受信装置に接続
され、該受信装置は車体側の送信装置から無線で信号を
受信するものである。An electric vehicle that achieves the above object is an electric vehicle in which a drive unit driven by a battery is incorporated in a wheel and is used by an aged person or the like to move.
Incorporating the battery in the wheel, further incorporating a control unit for controlling the drive unit on the wheel side, if necessary,
In some cases, the control unit is connected to the receiving device on the wheel side, and the receiving device wirelessly receives a signal from the transmitting device on the vehicle body side.
【0010】[0010]
【作用】車輪に、駆動部のみならず電池を組み込み、必
要に応じて駆動部に対する制御部や制御部に対する無線
通信の受信部をさらに組み込むと、駆動のための電動機
構が殆どが車輪内に収納される。車体側には受信部に対
する送信部の如く小さなボックスを付加するだけでよく
なる。By incorporating not only the drive unit but also the battery in the wheel, and further incorporating the control unit for the drive unit and the wireless communication receiving unit for the control unit, if necessary, most of the electric mechanism for driving is in the wheel. It is stored. All that is required is to add a small box on the vehicle body side, such as a transmitter to a receiver.
【0011】特に、送受信装置として車輪内側面の車軸
から所定距離の円周上に等間隔で2以上の受光素子を配
置し、車体側に該受光素子に向け拡散する光波を送出す
る1以上の投光素子を配置し、この隣合う受光素子の間
隔を光波の拡散角度と受光素子の検知可能な光波強度と
受光素子の軌道円周とにより定まる検知可能範囲に常に
1以上の受光素子が存在するよう設定すると、回転する
車輪と静止している車体との間の通信を、検知可能範囲
が狭い光波によるにもかかわらず簡易に行うことができ
る。Particularly, as the transmitting / receiving device, two or more light receiving elements are arranged at equal intervals on the circumference of a predetermined distance from the axle on the inner surface of the wheel, and one or more light waves are transmitted toward the light receiving element on the vehicle body side. The light emitting element is arranged, and the interval between the adjacent light receiving elements is always one or more in the detectable range determined by the diffusion angle of the light wave, the light wave intensity detectable by the light receiving element and the orbital circumference of the light receiving element. If the setting is made, communication between the rotating wheel and the stationary vehicle body can be easily performed despite the light wave having a narrow detectable range.
【0012】また、駆動部が、車体に固定される車軸に
固定された大歯車と、該大歯車の周囲を転がる2以上の
小歯車と、該小歯車を軸に嵌入したモータとからなり、
該モータが車軸に対して回転自在に支持された回転部の
円周等配分位置に取り付けられ、該モータ間の円周等配
分位置の回転部に前記電池を組み込んだものとすると、
車輪のバランスが取れ、走行がスムーズになる。Further, the drive unit comprises a large gear fixed to an axle fixed to the vehicle body, two or more small gears rolling around the large gear, and a motor having the small gear fitted on the shaft.
Assuming that the motor is attached to the rotating portion rotatably supported with respect to the axle in a circumferentially even distribution position, and the battery is incorporated in the rotating portion at the circumferentially even distribution position between the motors.
Wheels are well balanced and driving is smooth.
【0013】また、駆動部が、車体に固定される車軸に
固定された磁石体と、該磁石体の周囲に位置するコイル
とからなり、該コイルが車軸に対して回転自在に支持さ
れた回転部に取り付けられ、前記コイルの更に外周に前
記電池を組み込んだものとしても同様に車輪のバランス
が取れ、走行がスムーズになる。Further, the drive unit comprises a magnet body fixed to an axle fixed to the vehicle body and a coil located around the magnet body, and the coil is rotatably supported on the axle. Similarly, even if the battery is mounted on the outer periphery of the coil and the battery is further provided on the outer periphery of the coil, the wheels are well balanced and the running becomes smooth.
【0014】また、車輪が、車椅子に用いられるもので
ある場合に、車輪に使用者が自力で車両を推進するため
のハンドリムを設けると、手動で推進させることもでき
る。When the wheel is used for a wheelchair, the wheel may be manually propelled by providing a hand rim for the user to propel the vehicle by himself / herself.
【0015】[0015]
【実施例】以下、本発明の実施例を図面を参照しつつ説
明する。図1は本発明の電動車両の斜視図、図2は本発
明の電動車両の車輪のカバーを取り外した状態の背面
図、図3は図2のX−X断面図、図4は電動車輪にカバ
ーを取り付けた状態の背面図である。なお、図1におい
て、図12、図13と同様の作用を有する部分は同一の
符号を付してその説明を省略する。Embodiments of the present invention will be described below with reference to the drawings. 1 is a perspective view of the electric vehicle of the present invention, FIG. 2 is a rear view of the electric vehicle of the present invention with a wheel cover removed, FIG. 3 is a sectional view taken along line XX of FIG. 2, and FIG. It is a rear view in the state where the cover was attached. Note that, in FIG. 1, portions having the same operations as those in FIGS. 12 and 13 are denoted by the same reference numerals, and description thereof will be omitted.
【0016】図1において、本発明の電動車両71が図
12及び図13のものと主に異なる点は、駆動輪(回転
部)33は内部に後述する車輪駆動用のモータ、電池等
を内蔵し、両側面をカバー82、82′で覆われてお
り、手押しハンドルのグリップ部に左右の操作力検知部
72、73が設けられ、車体側の前部に該操作力検知部
72、73からの信号をモータの駆動信号に変換する変
換部76が設けられている点である。In FIG. 1, an electric vehicle 71 of the present invention is mainly different from that of FIGS. 12 and 13 in that a drive wheel (rotating portion) 33 has a wheel drive motor, a battery and the like which will be described later inside. Both side surfaces are covered with covers 82 and 82 ', and the left and right operation force detection units 72 and 73 are provided on the grip portion of the hand push handle, and the operation force detection units 72 and 73 are provided on the front portion on the vehicle body side. The point is that a conversion unit 76 that converts the signal of 1 to the drive signal of the motor is provided.
【0017】図2及び図3において、車輪21は、車体
2にナット等で固定される車軸31と、車軸31に対し
て軸受32を介して回転自在に支持された回転部33と
からなっている。回転部33は、フレーム90とタイヤ
37とハンドリム18とからなる。フレーム90は、軸
受32が嵌入されたハブ部34と、ハブ部34から放射
状に延びるスポーク部35と、スポーク部35の先端に
形成されたリム部36とからなり、リム部36に前記タ
イヤ37が保持されている。2 and 3, the wheel 21 comprises an axle 31 fixed to the vehicle body 2 with nuts and the like, and a rotating portion 33 rotatably supported on the axle 31 via a bearing 32. There is. The rotating portion 33 includes a frame 90, tires 37, and a hand rim 18. The frame 90 includes a hub portion 34 in which the bearing 32 is fitted, a spoke portion 35 radially extending from the hub portion 34, and a rim portion 36 formed at the tip of the spoke portion 35. The rim portion 36 is provided with the tire 37. Is held.
【0018】図3に示されるように、固定側の車軸31
に大歯車38が嵌入固定され、可動側の回転部33に補
強パネル39を介してモータ40が組み込まれている。
モータ40の出力軸41には小歯車42が圧入され、こ
の小歯車42が大歯車38の周囲に位置して噛み合って
いる。すなわち、モータ40が回転駆動されると、小歯
車42が大歯車38の回りを転がり、固定の車軸31に
対して回転部33が回転駆動される。As shown in FIG. 3, the fixed axle 31 is provided.
A large gear 38 is fitted in and fixed to the motor 40, and a motor 40 is incorporated in the movable rotary unit 33 via a reinforcing panel 39.
A small gear 42 is press-fitted into the output shaft 41 of the motor 40, and the small gear 42 is positioned around and meshes with the large gear 38. That is, when the motor 40 is rotationally driven, the small gear 42 rolls around the large gear 38, and the rotating portion 33 is rotationally driven with respect to the fixed axle 31.
【0019】このモータ40は図2に示されるように2
個組み込まれ、円形の回転部33の180°等分の同心
円上に配置されている。このモータ40は補強パネル3
9にビス79等で取付られ、該補強パネル39はフレー
ム90に取付具80で固定されている。2個のモータ4
0,40が配置された残りの空間の一部であって、回転
部33の180°等分の同心円上に2個の電池43,4
3が補強部材81を介して図示されない取付金具により
フレーム90に組み込まれている。このようにモータ4
0,40と電池43,43を配置することにより、車輪
21のバランスが保たれる。This motor 40 has two components as shown in FIG.
Individually incorporated, they are arranged on concentric circles equally divided by 180 ° of the circular rotating portion 33. This motor 40 is a reinforcement panel 3
The reinforcing panel 39 is attached to the frame 9 with screws 79 or the like, and the reinforcing panel 39 is fixed to the frame 90 with a fixture 80. 2 motors 4
Two batteries 43, 4 are arranged on a concentric circle of 180 ° equidistant part of the rotating part 33, which is a part of the remaining space in which 0, 40 are arranged.
3 is incorporated in the frame 90 via a reinforcing member 81 by a mounting bracket (not shown). Motor 4
By arranging the batteries 0, 40 and the batteries 43, 43, the balance of the wheels 21 is maintained.
【0020】図2に示されるように、回転部33のモー
タ40,40、電池43,43が配置された最後の残り
の部分に受信回路84を含む制御部44と駆動部77が
取り付けられている。As shown in FIG. 2, the control unit 44 including the receiving circuit 84 and the drive unit 77 are attached to the last remaining portion of the rotating unit 33 where the motors 40, 40 and the batteries 43, 43 are arranged. There is.
【0021】図3、図4に示されるように、回転部33
の内側カバー82′の内径の縁部93に沿って前記受信
回路に接続される受光素子T1〜T8が等間隔で配置さ
れており、前記内径縁部の外径方向の所定位置に投光素
子D1、D2が取付部材85を介して車体フレーム84
に取り付けられている。従って受光素子T1〜T8は車
輪21の回転と共に回転しつつ、車体2の側の投光素子
D1、D2から後述する赤外線で制御に関する信号を受
信する構成となっている。As shown in FIGS. 3 and 4, the rotating portion 33
The light receiving elements T1 to T8 connected to the receiving circuit are arranged at equal intervals along the edge 93 of the inner diameter of the inner cover 82 ', and the light emitting elements are arranged at predetermined positions in the outer diameter direction of the inner diameter edge. D1 and D2 are attached to the vehicle body frame 84 via the mounting member 85.
Is attached to. Therefore, the light receiving elements T1 to T8 are configured to receive a control-related signal by infrared rays described later from the light projecting elements D1 and D2 on the vehicle body 2 side while rotating with the rotation of the wheels 21.
【0022】図5は上述した車輪21を車体2の左右に
取り付けた電動車両のブロック図である。車輪21側に
は、受信部45、制御部44、駆動部77、モータ40
及び電池43が設けられている。受信部は前述の受光素
子、制御部44は受光素子に接続される受信回路と速度
制御等のための制御回路、駆動部77はモータ40の駆
動のための駆動回路から各々構成され、電池43は制御
部44や受信部45に必要な電源を供給する構成となっ
ている。車体2の側には、手押しハンドルのグリップ部
に設けられた左右の操作力検知部72、73、この操作
力検知信号を制御信号に変換するCPU、投光素子に接
続される送信回路(図示せず)等からなる変換部76、
この制御信号を前記受信部45に送信する投光素子から
なる送信部46を備えている。また、操作力検知部7
2、73は、例えばジョイステックの如く倒立レバーの
倒立方向と倒立角度で走行方向と走行速度に相当する信
号を発するものとしてもよい。また、送信部46は例え
ば無線発信回路を組み込んだものとすることもできる。FIG. 5 is a block diagram of an electric vehicle in which the above-mentioned wheels 21 are attached to the left and right of the vehicle body 2. On the wheel 21 side, the reception unit 45, the control unit 44, the drive unit 77, the motor 40.
And a battery 43. The receiving section is composed of the above-mentioned light receiving element, the control section 44 is composed of a receiving circuit connected to the light receiving element and a control circuit for speed control, and the driving section 77 is composed of a driving circuit for driving the motor 40. Is configured to supply necessary power to the control unit 44 and the receiving unit 45. On the side of the vehicle body 2, the left and right operation force detection units 72 and 73 provided on the grip portion of the push handle, the CPU that converts the operation force detection signals into control signals, and the transmission circuit connected to the light projecting element (Fig. (Not shown), etc.
The transmission unit 46 including a light projecting element for transmitting the control signal to the reception unit 45 is provided. In addition, the operating force detection unit 7
The reference numerals 2 and 73 may be, for example, Joystick, which emits signals corresponding to the traveling direction and the traveling speed depending on the inverted direction and the inverted angle of the inverted lever. Further, the transmission unit 46 may be one in which a wireless transmission circuit is incorporated, for example.
【0023】図6に示されるように、送信部46はLE
D等の発光ダイオードからなる2個の受光素子D1、D
2で構成され、該投光素子D1、D2が送信回路83に
並列に接続されている。受信部45はフォトトランジス
タからなる8個の受光素子T1〜T8で構成され、該受
光素子T1〜T8が受信回路84に並列に接続されてい
る。従って、送信回路83からの制御信号を乗せた赤外
線が投光素子D1、D2から送出され、これを受光素子
T1〜T8が検知して受信回路84に送る構成となって
いる。As shown in FIG. 6, the transmitter 46 is LE
Two light receiving elements D1 and D composed of light emitting diodes such as D
2, the light projecting elements D1 and D2 are connected in parallel to the transmitting circuit 83. The receiving section 45 is composed of eight light receiving elements T1 to T8 made of phototransistors, and the light receiving elements T1 to T8 are connected in parallel to the receiving circuit 84. Therefore, the infrared light carrying the control signal from the transmitting circuit 83 is transmitted from the light projecting elements D1 and D2, and the light receiving elements T1 to T8 detect this and send it to the receiving circuit 84.
【0024】図7に示されるように、前記受光素子T1
〜T8の間隔P2は、投光素子D1、D2から拡散して
送出される赤外線の拡散角度θ1、θ2と、受光素子T
1〜T8の検知可能な赤外線強度(感度)91、92
と、受光素子T1〜T8の軌道(内側カバーの内径縁部
93)とにより定まる受光素子T1〜T8の検知可能範
囲Rに常に1以上の受光素子T1〜T8が存在するよう
設定されている。具体的には、この受光素子T1〜T8
の間隔P2と投光素子D1、D2の間隔P1の比をP2
/P1=1.5〜0.5とすることが好ましい。As shown in FIG. 7, the light receiving element T1
The interval P2 between T8 and T8 is the diffusion angles θ1 and θ2 of infrared rays diffused from the light projecting elements D1 and D2 and the light receiving element T.
Infrared intensity (sensitivity) 91, 92 of 1 to T8 that can be detected
And one or more light receiving elements T1 to T8 are always present in the detectable range R of the light receiving elements T1 to T8 that is determined by the trajectory of the light receiving elements T1 to T8 (inner diameter edge portion 93 of the inner cover). Specifically, the light receiving elements T1 to T8
The ratio of the distance P2 between the light emitting elements D1 and D2 is P2.
It is preferable that /P1=1.5 to 0.5.
【0025】従って、図7において、車輪が図の矢印方
向に回転すると、図6の受信回路84に流れる受信電流
Iは、図8に示されるように、逐次検知可能範囲に入る
各受光素子T1〜T8の検知電流I1〜I8の重畳した
ものとなり、多少の脈動を有するが常に受信電流Iが流
れることとなる。なお、この脈動は前述の受光素子の間
隔P2と投光素子の間隔P1のとの比P2/P1が小さ
い程小さくなり好ましいが、コストとの関係で適宜設定
される。Therefore, in FIG. 7, when the wheel rotates in the direction of the arrow in the figure, the receiving current I flowing in the receiving circuit 84 in FIG. 6 is, as shown in FIG. The detection currents I1 to I8 of T8 to T8 are superposed, and the reception current I always flows although there is some pulsation. Note that this pulsation becomes smaller as the ratio P2 / P1 between the above-described light receiving element interval P2 and the light projecting element interval P1 becomes smaller, which is preferable, but it is appropriately set in consideration of cost.
【0026】つぎに、上述した電動車両の作動を以下に
説明する。例えば直進させようとすると、図1の手押し
ハンドルの左右の操作力検知部72、73が同じ操作力
を検知し、変換部76から直進の制御信号が図3の送信
部46に出力され、該送信部46から制御信号が受信部
45に発信され、制御部44が電池43の電源を使って
直進信号の程度に応じた駆動力をモータ40に発生させ
る。モータ40の駆動軸41が回ると、小歯車42が固
定の大歯車38の回りを転がり、車輪21はモータ40
と共に回転し、車体2が走行する。また、いずれかの方
向に曲がろうとする場合は、曲がろうとする方向の反対
側の操作力検知部72又は73がより大きな操作力を検
知し、変換部76からこの曲がりの程度に応じた制御信
号が出力され、左右の車輪の制御部がこの曲がりの制御
信号に応じた駆動力をモータ40に発生させるので、電
動車輪は曲げようとする方向に曲がる。Next, the operation of the above-described electric vehicle will be described below. For example, when an attempt is made to move straight, the left and right operation force detection units 72 and 73 of the hand-pushed handle in FIG. 1 detect the same operation force, and the conversion unit 76 outputs a control signal for straight movement to the transmission unit 46 in FIG. A control signal is transmitted from the transmission unit 46 to the reception unit 45, and the control unit 44 uses the power source of the battery 43 to cause the motor 40 to generate a driving force according to the degree of the straight-ahead signal. When the drive shaft 41 of the motor 40 rotates, the small gear 42 rolls around the fixed large gear 38, and the wheels 21 move to the motor 40.
The car body 2 runs with the rotation. Further, when a bending attempt is made in either direction, the operation force detection unit 72 or 73 on the opposite side of the bending direction detects a larger operation force, and the conversion unit 76 responds to the degree of the bending. A control signal is output, and the control unit for the left and right wheels causes the motor 40 to generate a driving force corresponding to the control signal for bending, so that the electric wheel bends in the direction in which it is about to be bent.
【0027】車体2の側には、左右の操作力検知部7
2、73と変換部76と、発行ダイオードからなる送信
部46を取り付けるだけでよい。そのため、図13のよ
うな手動式車椅子であっても、車輪を交換し、車体に操
作部と送信部を付加するだけで、電動車両に改造可能で
ある。また、この場合、電動式車椅子の車輪を大きくす
ると、電池組み込みのスペースが確保でき、容量を増大
させることができる。On the side of the vehicle body 2, the left and right operating force detection units 7 are provided.
2, 73, the conversion unit 76, and the transmission unit 46 composed of the issuing diode need only be attached. Therefore, even a manual wheelchair as shown in FIG. 13 can be modified into an electric vehicle simply by exchanging the wheels and adding an operation unit and a transmission unit to the vehicle body. Further, in this case, if the wheels of the electric wheelchair are enlarged, a space for incorporating the battery can be secured, and the capacity can be increased.
【0028】図9は他の車輪22の側面の断面図であ
る。図3と異なる点は、フレーム90のリム36部に取
り付けられた取付バー50に歪みゲージ52が張り付け
られた点である。この車輪22は通常はハンドリム18
で手動駆動されるが、例えば坂道等で手動駆動で不足す
る分を電動駆動で補うようにしたものである。歪みゲー
ジ52はハンドリム18により車体2に付与される手動
駆動力を検知し、この手動駆動力に応じた電気信号が制
御部53で発生する構成となっている。すなわち、手動
駆動力はハンドリム18、取付バー50を介して車輪2
2に伝達される。そのため取付バー50は回転方向に曲
げ荷重を受けることになり、歪みゲージ52には前進又
は後退させる手動駆動力及び駆動方向に応じた圧縮力又
は引っ張り力が作用する。手動駆動力が或る一定以上に
なると、手動駆動力の大きさに対応するよう電動機構が
作動して電動駆動力を発生させる。手動駆動力がある程
度以上にならないと電動機構が作動しないようにする
と、電動機構を手動駆動の補助として利用でき、電池5
4を其ほど大容量にする必要がなくなる。この場合、電
動機構の操作部も電動補助を使うか使わないかのスイッ
チだけでよく、車体2側に設けなくても車輪22側に設
けることができ、車輪22側に全ての電動機構を取付け
ることもできる。FIG. 9 is a side sectional view of another wheel 22. The difference from FIG. 3 is that the strain gauge 52 is attached to the attachment bar 50 attached to the rim 36 of the frame 90. This wheel 22 is normally the hand rim 18
It is driven manually, but for example, electric drive is used to compensate for the shortage caused by manual driving on a slope or the like. The strain gauge 52 detects a manual driving force applied to the vehicle body 2 by the hand rim 18, and an electric signal corresponding to the manual driving force is generated by the control unit 53. That is, the manual driving force is applied to the wheel 2 via the hand rim 18 and the mounting bar 50.
2 is transmitted. Therefore, the mounting bar 50 receives a bending load in the rotation direction, and the strain gauge 52 receives a manual driving force for advancing or retracting and a compressing force or a pulling force corresponding to the driving direction. When the manual driving force exceeds a certain level, the electric mechanism operates to generate the electric driving force corresponding to the magnitude of the manual driving force. If the electric mechanism is not activated unless the manual driving force exceeds a certain level, the electric mechanism can be used as an auxiliary for the manual driving, and the battery 5
There is no need to make 4 so large. In this case, the operation unit of the electric mechanism may be only a switch as to whether or not the electric assist is used, and it can be provided on the wheel 22 side without providing it on the vehicle body 2 side, and all electric mechanisms are mounted on the wheel 22 side. You can also
【0029】図10及び図11は更に他の車輪23を示
す背面図及び側面の断面図である。図2及び図3と異な
る点は、モータの形式である。車軸31にモータの一部
を構成する永久磁石61が固設され、車軸31に対して
軸受62を介してコイル63内蔵のモータハウジング6
4が回転自在に支持されている。このモータハウジング
64とリム36の間にスポーク65が張り巡らされてい
る。そして、モータハウジング64の外周であってスポ
ーク65の内側に電池67が円周等分位置に配設されて
いる。なお、符号68は制御部、69は受信部、70は
送信部である。このように、モータを車軸と一体的に構
成すると、電池67を収納するための空間が広くでき
る。また、電池67が車輪23内にあるので、電池67
からの電源の供給を受けるコイル63は車輪23の回転
部内に収める構造となって、回転部分と固定部分の動力
配線を省く構造となっている。10 and 11 are a rear view and a side sectional view showing still another wheel 23. As shown in FIG. The difference from FIGS. 2 and 3 is the type of motor. A permanent magnet 61, which constitutes a part of a motor, is fixedly mounted on the axle 31, and a motor housing 6 having a coil 63 built therein is mounted on the axle 31 via a bearing 62.
4 is rotatably supported. Spokes 65 are stretched between the motor housing 64 and the rim 36. Then, batteries 67 are arranged on the outer circumference of the motor housing 64 and inside the spokes 65 at equal circumferential positions. Reference numeral 68 is a control unit, 69 is a receiving unit, and 70 is a transmitting unit. Thus, if the motor is integrally formed with the axle, the space for accommodating the battery 67 can be widened. Further, since the battery 67 is in the wheel 23, the battery 67
The coil 63, which receives the power supply from the inside, is housed in the rotating portion of the wheel 23, and the power wiring between the rotating portion and the fixed portion is omitted.
【0030】[0030]
【発明の効果】本発明の電動車両は、車輪に駆動部以外
に電池をも組み込み、必要に応じて駆動部に対する制御
部や制御部に対する無線ワイヤレスの受信部を更に組み
込んで、駆動のための電動機構の殆どが車輪内にコンパ
クトに収納されるようにしたので、車体側がスッキリと
した自由な形態のままでよい。そのため、従来の手動式
車椅子であっても、車輪を取り替え、車体側には受信部
に対する送信部の如く小さなボックスを付加するだけ
で、電動車椅子に改造できる。The electric vehicle of the present invention incorporates a battery into the wheels in addition to the drive unit, and further incorporates a control unit for the drive unit and a wireless wireless reception unit for the control unit to drive the vehicle. Since most of the electric mechanisms are housed compactly in the wheels, the vehicle body can be kept in a clear and free form. Therefore, even a conventional manual wheelchair can be remodeled into an electric wheelchair by simply replacing the wheels and adding a small box such as a transmitter to a receiver on the vehicle body side.
【0031】また、特に、送受信装置として、車輪内側
面の車軸から所定距離の円周上に等間隔で2以上の受光
素子を配置し、車体側に該受光素子に向け拡散する光波
を送出する1以上の投光素子を配置し、この隣合う受光
素子の間隔を検知可能範囲に常に1以上の受光素子が存
在するよう設定すると、回転する車輪と静止している車
体との間の光波による通信を簡易に確実に行うことがで
きる。Further, in particular, as the transmitting / receiving device, two or more light receiving elements are arranged at equal intervals on the circumference of a predetermined distance from the axle on the inner surface of the wheel, and a light wave which is diffused toward the light receiving element is sent to the vehicle body side. If one or more light emitting elements are arranged and the distance between the adjacent light receiving elements is set so that there is always one or more light receiving elements in the detectable range, light waves between the rotating wheel and the stationary vehicle body may be generated. Communication can be performed easily and reliably.
【0032】また、駆動部が、車体に固定される車軸に
固定された大歯車と、該大歯車の周囲を転がる2以上の
小歯車と、該小歯車を軸に嵌入したモータとからなり、
該モータが車軸に対して回転自在に支持された回転部の
円周等配分位置に取り付けられ、該モータ間の円周等配
分位置の回転部に前記電池を組み込んだものとすると、
車輪のバランスが取れ、走行をスムーズにすることがで
きる。Further, the drive unit comprises a large gear fixed to an axle fixed to the vehicle body, two or more small gears rolling around the large gear, and a motor having the small gear fitted on the shaft.
Assuming that the motor is attached to the rotating portion rotatably supported with respect to the axle in a circumferentially even distribution position, and the battery is incorporated in the rotating portion at the circumferentially even distribution position between the motors.
The wheels are well balanced and the running can be smooth.
【0033】また、駆動部が、車体に固定される車軸に
固定された磁石体と、該磁石体の周囲に位置するコイル
とからなり、該コイルが車軸に対して回転自在に支持さ
れた回転部に取り付けられ、前記コイルの更に外周に前
記電池を組み込んだものとしても同様に車輪のバランス
が取れ、走行をスムーズにすることができる。また、車
輪の外周部における電池の収納面積を大きくでき、電池
容量を増大できる。Further, the drive unit comprises a magnet body fixed to an axle fixed to the vehicle body and a coil positioned around the magnet body, and the coil is rotatably supported on the axle. Similarly, even if the battery is mounted on the outer periphery of the coil and the outer periphery of the coil is incorporated, the wheels can be balanced and the running can be smoothly performed. Moreover, the storage area of the battery in the outer peripheral portion of the wheel can be increased, and the battery capacity can be increased.
【0034】また、車椅子に用いた場合、ハンドリムを
車輪に取り付けておけば、仮に駆動部の故障や電池が消
耗したとしても、手動式車椅子同様に手動で推進させる
ことが可能となる。また、モータ・電池が車輪に組み込
まれることから、従来の手動式車椅子同様に車体を折り
畳むことも可能であり、電動車椅子でも移送が容易とな
る利点がある。Further, when used in a wheelchair, if the hand rim is attached to the wheel, even if the drive unit is broken or the battery is exhausted, it can be manually propelled like a manual wheelchair. Further, since the motor and the battery are incorporated into the wheels, the vehicle body can be folded like the conventional manual wheelchair, and there is an advantage that the electric wheelchair can be easily transferred.
【図1】本発明の電動車両の斜視図である。FIG. 1 is a perspective view of an electric vehicle of the present invention.
【図2】本発明の電動車両の車輪のカバーを取り外した
状態の背面図である。FIG. 2 is a rear view of the electric vehicle of the present invention with the wheel cover removed.
【図3】図2のX−X断面図である。FIG. 3 is a sectional view taken along line XX of FIG.
【図4】本発明の電動車輪にカバーを取り付けた状態の
背面図である。FIG. 4 is a rear view of the electric wheel of the present invention with a cover attached.
【図5】本発明の電動車両の駆動ブロック図である。FIG. 5 is a drive block diagram of the electric vehicle of the present invention.
【図6】送信部及び受信部の回路図である。FIG. 6 is a circuit diagram of a transmitter and a receiver.
【図7】投光素子及び受光素子の配置状態を示す模式図
である。FIG. 7 is a schematic diagram showing an arrangement state of a light projecting element and a light receiving element.
【図8】受信部の作動を示す受信電流グラフ図である。FIG. 8 is a reception current graph showing the operation of the reception unit.
【図9】本発明の他の電動車両の車輪の側面の断面図で
ある。FIG. 9 is a side sectional view of a wheel of another electric vehicle of the present invention.
【図10】本発明の更に他の電動車両の車輪の背面図で
ある。FIG. 10 is a rear view of wheels of still another electric vehicle of the present invention.
【図11】図10のZ−Z断面図である。11 is a sectional view taken along line ZZ of FIG.
【図12】従来の電動車椅子の斜視図である。FIG. 12 is a perspective view of a conventional electric wheelchair.
【図13】従来の手動式車椅子の斜視図である。FIG. 13 is a perspective view of a conventional manual wheelchair.
D1,D2 投光素子 θ1,θ2 拡散角度 R 検知可能範囲 T1〜T8 受光素子 21,22,23 車輪 33 回転部 38 大歯車(駆動部) 40 モータ(駆動部) 42 小歯車(駆動部) 43 電池 44 制御部 45 受信部 61 永久磁石(磁石体) 63 コイル 67 電池 91,92 検知可能な光波強度 93 内径縁部(所定距離の円周) D1, D2 Light projecting element θ1, θ2 Diffusion angle R Detectable range T1 to T8 Light receiving element 21, 22, 23 Wheel 33 Rotating part 38 Large gear (driving part) 40 Motor (driving part) 42 Small gear (driving part) 43 Battery 44 Control unit 45 Receiver 61 Permanent magnet (magnet body) 63 Coil 67 Battery 91, 92 Detectable light wave intensity 93 Inner edge (circumference of predetermined distance)
Claims (7)
に組み込まれ、高齢者等が移動に使用する電動車両であ
って、前記電池を前記車輪内に組み込んだことを特徴と
する電動車両。1. An electric vehicle in which a driving unit driven by a battery is incorporated in a wheel and used by an elderly person or the like for traveling, wherein the battery is incorporated in the wheel.
車輪内に前記駆動部の制御を行う制御部を組み込んだも
の。2. The electric vehicle according to claim 1, wherein a control unit that controls the drive unit is incorporated in the wheel.
制御部は前記車輪側の受信装置に接続され、該受信装置
は車体側の送信装置から無線で信号を受信するもの。3. The electric vehicle according to claim 2, wherein the control unit is connected to a receiving device on the wheel side, and the receiving device wirelessly receives a signal from a transmitting device on the vehicle body side.
搬送波として光波を用い、前記受信装置は車輪内側面の
車軸から所定距離の円周上に等間隔で配置される2以上
の受光素子を有し、前記送信装置は、車体側に配置され
前記受光素子に向け拡散する光波を送出する1以上の投
光素子を有し、前記隣合う受光素子の間隔は前記投光素
子の光波の拡散角度と該受光素子の検知可能な光波強度
とにより定まる検知可能範囲に常に1以上の受光素子が
存在するよう設定されているものである。4. The electric vehicle according to claim 3, wherein a light wave is used as a signal carrier, and the receiving device is two or more light receiving devices arranged at equal intervals on a circumference of a predetermined distance from an axle on the inner surface of the wheel. The transmitting device has one or more light projecting elements that are arranged on the vehicle body side and that send out a light wave that is diffused toward the light receiving element, and the distance between the adjacent light receiving elements is the light wave of the light projecting element. Is set so that one or more light-receiving elements are always present in the detectable range determined by the diffusion angle and the detectable light wave intensity of the light-receiving element.
固定された大歯車と、該大歯車の周囲を転がる2以上の
小歯車と、該小歯車を軸に嵌入したモータとからなり、
該モータは車軸に対して回転自在に支持された回転部の
円周等配分位置に取り付けられ、前記モータ間の円周等
配分位置の回転部に前記電池を組み込んだ請求項1乃至
4記載の電動車両。5. The drive unit includes a large gear fixed to an axle fixed to a vehicle body, two or more small gears rolling around the large gear, and a motor having the small gear fitted on the shaft. ,
5. The motor according to claim 1, wherein the motor is attached to a rotating portion rotatably supported with respect to an axle at a circumferentially evenly distributed position, and the battery is incorporated in the rotating portion at the circumferentially evenly distributed position between the motors. Electric vehicle.
固定された磁石体と、該磁石体の周囲に位置するコイル
とからなり、該コイルは車軸に対して回転自在に支持さ
れた回転部に取り付けられ、前記コイルの更に外周に前
記電池を組み込んだ請求項1乃至4記載の電動車両。6. The drive unit includes a magnet body fixed to an axle fixed to a vehicle body, and a coil positioned around the magnet body, and the coil is rotatably supported with respect to the axle. The electric vehicle according to any one of claims 1 to 4, wherein the electric vehicle is mounted on a rotating portion and further includes the battery on the outer periphery of the coil.
あり、前記車輪には使用者が自力で車両を推進するため
のハンドリムが設けられている請求項1乃至6記載の電
動車両。7. The electric vehicle according to claim 1, wherein the wheel is used for a wheelchair, and the wheel is provided with a hand rim for a user to propel the vehicle by himself / herself.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6179487A JPH0775219A (en) | 1993-07-07 | 1994-07-06 | Motor-driven vehicle |
DE69515746T DE69515746T2 (en) | 1994-07-06 | 1995-06-06 | Motor vehicle |
EP95303856A EP0691232B1 (en) | 1994-07-06 | 1995-06-06 | Motor-driven vehicle |
AT95303856T ATE190923T1 (en) | 1994-07-06 | 1995-06-06 | MOTOR VEHICLE |
US08/798,804 US5732786A (en) | 1994-07-06 | 1997-02-12 | Manual driving force sensing unit for motor driven vehicle |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19304993 | 1993-07-07 | ||
JP5-193049 | 1993-07-07 | ||
JP6179487A JPH0775219A (en) | 1993-07-07 | 1994-07-06 | Motor-driven vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH0775219A true JPH0775219A (en) | 1995-03-17 |
Family
ID=26499333
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP6179487A Pending JPH0775219A (en) | 1993-07-07 | 1994-07-06 | Motor-driven vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0775219A (en) |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5771988A (en) * | 1995-05-30 | 1998-06-30 | Nabco Limited | Motor-driven vehicle |
US5989755A (en) * | 1997-03-31 | 1999-11-23 | Hoya Corporation | Method of manufacturing x-ray mask blank and method of manufacturing x-ray membrane for x-ray mask |
US6127068A (en) * | 1997-03-31 | 2000-10-03 | Hoya Corporation | X-ray membrane for x-ray mask, x-ray mask blank, x-ray mask, manufacturing method thereof and method of polishing silicon carbide film |
US6536544B1 (en) * | 1997-03-17 | 2003-03-25 | Hitachi, Ltd. | Walking aid apparatus |
JP2003520733A (en) * | 2000-01-26 | 2003-07-08 | スペシャル プロダクツ フォー インダストリー ヴェー.オー.エフ. | Wheel with drive means |
US7261980B1 (en) | 1997-03-31 | 2007-08-28 | Hoya Corporation | X-ray mask blank and x-ray mask |
JP2011131674A (en) * | 2009-12-24 | 2011-07-07 | Shusaku Murata | Power control unit and vehicle including the same |
JP2012051559A (en) * | 2010-08-31 | 2012-03-15 | Chiu-Hsiang Lo | Electric wheel for electric vehicles |
JP2012066007A (en) * | 2010-09-27 | 2012-04-05 | Mitsuba Corp | Differential caster and electric wheelchair |
JP2012517376A (en) * | 2009-02-06 | 2012-08-02 | ベロン・エンジニアリング・インコーポレイテッド | High performance electric wheel for electric bicycle |
US9274134B2 (en) | 2009-02-06 | 2016-03-01 | Belon Engineering, Inc. | Coupler for smart electrical wheel for electrical bikes |
JP2018510812A (en) * | 2015-03-06 | 2018-04-19 | ドンギュン パーク | Driving wheels for vehicles |
EP3381728A3 (en) * | 2017-03-22 | 2018-11-07 | Robert Bosch GmbH | Wheel device, in particular smart wheel device |
WO2020230439A1 (en) * | 2019-05-16 | 2020-11-19 | 株式会社日立製作所 | Secondary battery system and in-wheel motor system |
-
1994
- 1994-07-06 JP JP6179487A patent/JPH0775219A/en active Pending
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5771988A (en) * | 1995-05-30 | 1998-06-30 | Nabco Limited | Motor-driven vehicle |
US6536544B1 (en) * | 1997-03-17 | 2003-03-25 | Hitachi, Ltd. | Walking aid apparatus |
US7261980B1 (en) | 1997-03-31 | 2007-08-28 | Hoya Corporation | X-ray mask blank and x-ray mask |
US5989755A (en) * | 1997-03-31 | 1999-11-23 | Hoya Corporation | Method of manufacturing x-ray mask blank and method of manufacturing x-ray membrane for x-ray mask |
US6127068A (en) * | 1997-03-31 | 2000-10-03 | Hoya Corporation | X-ray membrane for x-ray mask, x-ray mask blank, x-ray mask, manufacturing method thereof and method of polishing silicon carbide film |
JP2012066822A (en) * | 2000-01-26 | 2012-04-05 | Special Products For Industry Vof | Wheel strut |
JP2003520733A (en) * | 2000-01-26 | 2003-07-08 | スペシャル プロダクツ フォー インダストリー ヴェー.オー.エフ. | Wheel with drive means |
JP2012517376A (en) * | 2009-02-06 | 2012-08-02 | ベロン・エンジニアリング・インコーポレイテッド | High performance electric wheel for electric bicycle |
US9274134B2 (en) | 2009-02-06 | 2016-03-01 | Belon Engineering, Inc. | Coupler for smart electrical wheel for electrical bikes |
JP2011131674A (en) * | 2009-12-24 | 2011-07-07 | Shusaku Murata | Power control unit and vehicle including the same |
JP2012051559A (en) * | 2010-08-31 | 2012-03-15 | Chiu-Hsiang Lo | Electric wheel for electric vehicles |
JP2012066007A (en) * | 2010-09-27 | 2012-04-05 | Mitsuba Corp | Differential caster and electric wheelchair |
JP2018510812A (en) * | 2015-03-06 | 2018-04-19 | ドンギュン パーク | Driving wheels for vehicles |
EP3381728A3 (en) * | 2017-03-22 | 2018-11-07 | Robert Bosch GmbH | Wheel device, in particular smart wheel device |
WO2020230439A1 (en) * | 2019-05-16 | 2020-11-19 | 株式会社日立製作所 | Secondary battery system and in-wheel motor system |
JP2020187944A (en) * | 2019-05-16 | 2020-11-19 | 株式会社日立製作所 | In-wheel electric system |
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