WO2016027481A1 - Véhicule dotée d'une assistance à la propulsion - Google Patents

Véhicule dotée d'une assistance à la propulsion Download PDF

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Publication number
WO2016027481A1
WO2016027481A1 PCT/JP2015/054565 JP2015054565W WO2016027481A1 WO 2016027481 A1 WO2016027481 A1 WO 2016027481A1 JP 2015054565 W JP2015054565 W JP 2015054565W WO 2016027481 A1 WO2016027481 A1 WO 2016027481A1
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WIPO (PCT)
Prior art keywords
force
electric assist
assist vehicle
outer sleeve
handle portion
Prior art date
Application number
PCT/JP2015/054565
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English (en)
Japanese (ja)
Inventor
瑛昌 沢戸
上山　明紀
剛英 松本
松岡　祐樹
藤田　英明
Original Assignee
シャープ株式会社
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Application filed by シャープ株式会社 filed Critical シャープ株式会社
Publication of WO2016027481A1 publication Critical patent/WO2016027481A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor

Definitions

  • the present invention relates to an electric assist vehicle that generates assist force by a motor.
  • Patent Document 1 discloses an electric auxiliary transport vehicle (particularly, a handcart) that generates auxiliary power with a motor in accordance with a manual operation force as the electric assist vehicle.
  • the electric auxiliary transport vehicle includes a sliding grip, an elastic member that pushes the grip toward the operator side, and a movement of the grip toward the body frame at the end of the operation handle that extends rearward and upward from the body frame.
  • a movement amount detection unit for detecting the amount.
  • the electric auxiliary transport vehicle includes a control unit that controls the motor according to the output of the movement amount detection unit in the body frame.
  • Patent Document 2 as the electric assist vehicle, a body frame on which a load can be placed via a loading platform, an operation handle pressed by an operator, and an assist force according to a pressing operation of the operation handle are provided.
  • An electric assist cart including an electric assist unit to be applied is disclosed. Specifically, the electric assist unit is connected to the main body portion attached to the lower surface of the vehicle body frame, a pair of drive wheels provided on the main body portion with a space between the left and right sides, and the operation handle and attached to the main body portion.
  • a pair of torque sensors that detect drive torque acting on the left and right sides of the frame, a controller that is attached to the main body and calculates an assist force applied to the drive wheels according to the drive torque detected by the torque sensor, and a controller And a pair of electric motors that apply the calculated assist force to each drive wheel.
  • the operation handle extends in a direction parallel to the direction in which the sliding grip is pushed. That is, the extending direction of the operation handle is parallel to the direction in which the sliding grip slides. For this reason, when the movement of the electric auxiliary transport vehicle is stopped, a large force is generated to pull out the sliding clip from the operation handle. For this reason, the electric auxiliary transport vehicle described in Patent Document 1 has a disadvantageous structure in terms of strength and durability.
  • the torque sensor is attached to the bottom of the cargo bed (the lower surface of the vehicle body frame), so that the user at the operation handle grips between the torque sensor and the user.
  • Location grip part
  • the torque sensor is located at a considerably distant position.
  • a structure such as an operation handle is interposed between the torque sensor and the user.
  • the present invention has been made in view of the above-described problems, and an object thereof is to provide an electric assist vehicle that is excellent in strength and capable of accurately generating an assist force intended by a user. It is in.
  • an electric assist vehicle includes a drive unit that drives wheels of the electric assist vehicle, a handle unit that a user of the electric assist vehicle holds to move the electric assist vehicle, and the electric assist vehicle. And a controller that causes the drive unit to generate an assist force corresponding to at least one of a force that pushes the handle portion toward the front of the vehicle and a force that pulls the handle portion toward the rear of the electric assist vehicle.
  • the handle portion includes a first member extending in a direction perpendicular to the direction of the pushing force and the direction of the pulling force, and a second member attached to all or a part of the outer peripheral surface of the first member.
  • a member, and a detection unit that is provided between the first member and the second member and detects at least one force.
  • the detection unit is a spring switch.
  • the detection unit is a pressure sensor.
  • the second member is attached to the first member in a state of being separated into a left hand member and a right hand member.
  • the first detection unit includes a first left-hand detection unit provided between the first member and the left-hand member, and a first detection unit provided between the first member and the right-hand member. And a right-hand detection unit.
  • the second detection unit includes a second left-hand detection unit provided between the first member and the left-hand member, and a second detection unit provided between the first member and the right-hand member. And a right-hand detection unit.
  • FIG. 2 is a block diagram showing a part of the hardware configuration of the electric assist vehicle 1.
  • FIG. 2 is a block diagram for explaining a functional configuration of the electric assist vehicle 1.
  • FIG. 4 is a flowchart for explaining processing executed in the electric assist vehicle 1; It is a figure for demonstrating the structure of 10 A of operation handles which are the modifications of the operation handle. It is a figure for demonstrating the structure of the operation handle 10B which is a modification of the operation handle 10. FIG. It is a figure for demonstrating the structure of 10 C of operation handles which are the modifications of the operation handle. It is a figure for demonstrating the structure of 10D of operation handles which are the modifications of the operation handle. It is a figure for demonstrating schematic structure of the electric assist vehicle 2 which concerns on this Embodiment. It is a figure for demonstrating the movement of the outer sleeves 104L and 104R.
  • FIG. 6 is a diagram for explaining a forward / backward assist force generated based on an operation of the electric assist vehicle 2.
  • FIG. 4 is a diagram for explaining a turning assist force generated based on an operation of the electric assist vehicle 2.
  • 4 is a block diagram showing a part of the hardware configuration of the electric assist vehicle 2.
  • FIG. 3 is a block diagram for explaining a functional configuration of the electric assist vehicle 2.
  • FIG. 4 is a flowchart for explaining the first half of processing executed by the electric assist vehicle 2; 4 is a flowchart for explaining the latter half of the process executed by the electric assist vehicle 2. It is a figure for demonstrating the operation example different from the operation example of the electric assist vehicle 2 demonstrated based on FIG. 15 and FIG.
  • a cart is taken as an example of the electric assist vehicle, but the present invention is not limited to this.
  • a structure such as a shopping cart or a stroller that moves when the user applies force from the outside (that is, a structure that moves when pushed or pulled).
  • an electrically assisted vehicle 1 includes an operation handle 10, a loading platform 20, an underfloor box 30, motors 41 and 42 as drive devices 40, a left rear wheel 51, and a right side wheel.
  • a rear wheel 52, a left front wheel 53, and a right front wheel 54 are provided.
  • the operation handle 10 includes two straight pipes 101 fixed to the loading platform 20, two bent pipes 102 connected to the upper ends of the pipes 102, and straight lines having both ends connected to the two pipes 102.
  • a pipe 103 and an outer sleeve 104 are included.
  • the pipes 101, 102, and 103 are typically metallic pipes.
  • the outer sleeve 104 is typically made of resin.
  • the pipes 101, 102, and 103 constitute a frame of the operation handle 10.
  • the outer sleeve 104 is a cylindrical tube.
  • the outer sleeve 104 is installed on the pipe 103 so as to be movable with respect to the pipe 103 in a state where the pipe 103 penetrates the opening of the outer sleeve 104.
  • the outer sleeve 104 is configured to be movable in the forward direction and the reverse direction of the electric assist vehicle 1. Details of the configuration will be described later.
  • FIG. 2 is a view for explaining the movement of the outer sleeve 104.
  • FIG. 2A is a diagram illustrating a state of the operation handle 10 when a user's force is not applied to the outer sleeve 104.
  • FIG. 2B is a diagram illustrating a state of the operation handle 10 when a forward force F1 (that is, a pressing force) is applied to the outer sleeve 104.
  • FIG. 2C is a diagram illustrating a state of the operation handle 10 when a reverse force F2 (that is, pulling force) is applied to the outer sleeve 104.
  • outer sleeve 104 assumes a default position with respect to pipe 103. Specifically, a restoring force is applied to the outer sleeve 104 in advance so as to take a default position.
  • the outer sleeve 104 has a hardness that does not deform even when the user grips it. This is to prevent spring switches 105 and 106, which will be described later, from being simultaneously pressed (turned on).
  • the outer sleeve 104 is designed to have a play (gap) in the forward and backward directions with the pipe 103 so that the outer sleeve 104 can move as described above.
  • the outer sleeve 104 is preferably lightweight. This is because if the mass of the outer sleeve 104 is increased, the outer sleeve 104 may not be easily moved by the user's force, or the outer sleeve 104 may be arbitrarily moved by inertial force.
  • the reaction force by the spring switch mentioned later may be utilized, and reaction force other than that may be used.
  • the mechanism for generating the restoring force is not particularly limited.
  • the operation handle 10 further includes spring switches 105 and 106 as detectors between the pipe 103 and the outer sleeve 104.
  • the spring switches 105 and 106 have a spring 190 inside.
  • a configuration in which the pipe 103, the outer sleeve 104, and the spring switches 105 and 106 are combined is referred to as a “grip part 152”.
  • the spring switch 105 is used to detect a force pushing the handle portion 152 toward the front of the electric assist vehicle 1.
  • the spring switch 106 is used to detect a force that pushes the handle portion 152 toward the rear of the electric assist vehicle 1.
  • the spring switches 105 and 106 are configured to expand and contract in length in the spring arrangement direction in accordance with the force acting in the spring arrangement direction.
  • the handle portion 152 extends in a direction perpendicular to the direction of the force pushing the handle portion 152 forward of the electric assist vehicle 1 and the direction of the force pulling backward of the electric assist vehicle 1.
  • outer sleeve 104 may be attached to the entire outer peripheral surface of the pipe 103.
  • FIG. 4C is a cross-sectional view taken in the direction of the arrow when a reverse force F ⁇ b> 2 acts on the outer sleeve 104. That is, FIG. 4C is an arrow cross-sectional view corresponding to the states of FIG. 2C and FIG.
  • the outer sleeve 104 moves to the front of the electric assist vehicle 1 as described above.
  • the force F1 acting on the outer sleeve 104 is detected by the spring switch 105. That is, as described above, it is detected by the spring switch 105 that a force equal to or greater than the threshold is acting on the outer sleeve 104.
  • the outer sleeve 104 moves to the rear of the electric assist vehicle 1 as described above.
  • the force F ⁇ b> 2 acting on the outer sleeve 104 is detected by the spring switch 106. That is, as described above, it is detected by the spring switch 106 that a force greater than the threshold value is acting on the outer sleeve 104.
  • Control is performed when force F1 in the forward direction (that is, a force pushing the handle portion 152) is applied to the handle portion 152 (the states shown in FIGS. 2B, 3B, and 4B).
  • the device 302 controls the motors 41 and 42 constituting the drive device 40 to generate an assist force in the forward direction. Thereby, the user can obtain the assist force in the forward direction by applying a pressing force (forward force) to the outer sleeve 104.
  • a reverse force F2 that is, a force pulling the handle 152
  • the device 302 controls the motors 41 and 42 constituting the driving device 40 to generate an assist force in the reverse direction. Thereby, the user can obtain the assist force in the reverse direction by applying a pulling force (rearward force) to the outer sleeve 104.
  • the control device 302 applies a force (braking force) for braking the electric assist vehicle 1 to the motor 41,.
  • the control generated in 42 is performed.
  • the control device 302 applies a force (braking force) for braking the electric assist vehicle 2 to the motor. Control generated in 41 and 42 is performed.
  • control device 302 applies the force that keeps the electric assist vehicle 1 stopped to the motors 41, 42. Control to be generated.
  • the assist force can be adjusted by the following method (i) or (ii).
  • the assist amount is changed according to the rotation speed of the motors 41 and 42. Specifically, an encoder is attached to each of the motors 41 and 42, and the rotation speed of each of the motors 41 and 42 is detected. The CPU 321 adjusts the assist amount based on the detected rotation speed.
  • the electric assist vehicle 1 has only two switches, the forward spring switch 105 and the reverse spring switch 106. Therefore, in order to perform the operation smoothly, as described above, It is preferable to apply a method of changing the assist amount in accordance with the rotation speed of the motors 41 and 42.
  • the CPU 321 detects the intentions of the forward and backward users by the spring switches 105 and 106, and controls the assist amount based on the number of rotations of the motors 41 and 42, thereby realizing an operation without a sense of incongruity. Become. In this case, since the states of the left and right motors 41 and 42 are detected, it is possible to cope with turning.
  • FIG. 5 is a block diagram showing a part of the hardware configuration of the electric assist vehicle 1.
  • the electric assist vehicle 1 includes an operation handle 10, a battery 301, a control device 302, a drive device 40, a left rear wheel 51, and a right rear wheel 52.
  • the operation handle 10 has the spring switches 105 and 106 as described above.
  • the control device 302 includes a CPU (Central Processing Unit) 321 and a nonvolatile memory 322.
  • the drive device 40 includes the motor 41 that drives the left rear wheel and the motor 42 that drives the right rear wheel.
  • the battery 301 supplies power to the spring switches 105 and 106, the CPU 321, the memory 322, and the motors 41 and 42.
  • the memory 322 stores in advance an OS (Operating System) and a program for controlling the electric assist vehicle 1.
  • the CPU 321 controls the rotational force of the motors 41 and 42 by executing the program based on the detection results by the spring switches 105 and 106. That is, the CPU 321 controls (adjusts) the above-described generation and stop of the assist force and the strength of the assist force.
  • FIG. 6 is a block diagram for explaining a functional configuration of the electric assist vehicle 1.
  • the electrically assisted vehicle 1 includes a power supply unit 151 corresponding to the battery 301, a handle unit 152, a control unit 153 corresponding to the control device 302, and a drive unit 154 corresponding to the drive device 40. It has.
  • the handle part 152 includes detection parts 1521 and 1522.
  • the detection unit 1521 corresponds to the spring switch 105.
  • the detection unit 1522 corresponds to the spring switch 106.
  • the control unit 153 controls the entire operation of the electric assist vehicle 1.
  • the control unit 153 is configured to assist force (that is, forward or backward) in accordance with a force that pushes the handle portion 152 toward the front of the electric assist vehicle 1 and a force that pulls the handle portion 152 toward the rear of the electric assist vehicle 1.
  • Assist force is generated in the drive unit 154.
  • the detection unit 1522 is provided behind the electric assist vehicle 1 with respect to the pipe 103.
  • the detection unit 1522 is a member for detecting a force pulling the handle unit 152. Specifically, the detection unit 1521 detects whether or not a pulling force of a threshold value or more is applied to the handle unit 152.
  • step S ⁇ b> 6 the CPU 321 determines whether or not the force for pressing the handle portion 152 is no longer detected. Specifically, the CPU 321 determines whether or not the spring switch 105 has been turned off. If it is determined that the pressing force is no longer detected (YES in step S6), CPU 321 stops the generation of the forward assist force in step S8. When CPU 321 determines that the detection continues (NO in step S6), CPU 321 returns the process to step S4.
  • the CPU 321 pulls the handle portion 152 by the spring switch 106 in step S10 (specifically, in detail). It is determined whether or not a force for pulling the handle portion 152 is detected. Specifically, the CPU 321 determines whether or not the spring switch 106 has been turned on.
  • step S10 If it is determined that a pulling force has been detected (YES in step S10), the CPU 321 causes the motors 41 and 42 to generate a reverse assist force corresponding to the detected force in step S12. If it is determined that the pulling force is not detected (NO in step S10), CPU 321 returns the process to step S2.
  • step S14 the CPU 321 determines whether or not the force to pull the handle portion 152 is no longer detected. Specifically, the CPU 321 determines whether or not the spring switch 106 has been turned off. If it is determined that the pulling force is no longer detected (YES in step S14), CPU 321 stops the generation of the backward assist force in step S16. If it is determined that the detection continues (NO in step S14), CPU 321 returns the process to step S12.
  • the configuration in which the spring switches 105 and 106 are pushed by the outer sleeve 104 makes the operation intuitive, and can prevent an accident due to unintended assist force generation (accident due to excessive progress).
  • the extending direction of the outer sleeve 104 and the direction of the force that the user acts on the handle portion 152 are orthogonal. is doing. For this reason, compared with the structure where these directions are parallel, it is excellent in terms of strength and durability.
  • FIG. 8 is a diagram for explaining a configuration of an operation handle 10A that is a modification of the operation handle 10.
  • the operation handle 10 ⁇ / b> A includes two pressure sensors 108 and 109 as a detector and a cushion member 107 between the pipe 103 and the outer sleeve 104.
  • the cushion member 107 is disposed in contact with two main surfaces of each of the pressure sensors 108 and 109. That is, the cushion member 107 is disposed before and after each of the pressure sensors 108 and 109.
  • the electric assist vehicle 1 has the operation handle 10 ⁇ / b> A instead of the operation handle 10, the same advantages as the advantages (effects) obtained with the configuration having the operation handle 10 can be obtained. Further, by using a pressure sensor in the electric assist vehicle 1, the user's operation force can be detected stepwise (substantially linearly). Therefore, according to the configuration using the pressure sensors 108 and 109 instead of the spring switches 105 and 106, the assist force can be arbitrarily changed by the user's operation force.
  • the assist force can be adjusted by the following method (i) or (ii).
  • the user's intention (direction, assist amount) is more accurately measured and fed back to the operation than the above-described configuration in which the rotational speeds of the motors 41 and 42 are viewed. Is possible.
  • FIG. 9 is a diagram for explaining a configuration of an operation handle 10B which is a modified example of the operation handle 10.
  • FIG. 9A is a cross-sectional view of the operation handle 10B when the user is not acting on the operation handle 10B.
  • the operation handle 10B has an outer sleeve 104B instead of the outer sleeve 104, and has a spring switch 110 instead of the spring switches 105 and 106.
  • the spring switch 110 is installed above the pipe 103 with the pipe 103 in contact therewith.
  • the spring switch 110 has two movable parts facing each other and a fixed part.
  • FIG. 9B is a cross-sectional view taken along the arrow when a forward force F1 acts on the outer sleeve 104B.
  • FIG. 9C is a cross-sectional view taken along the arrow when a reverse force F2 acts on the outer sleeve 104B.
  • the installation position of the spring switch 110 is not limited to the position shown in FIG.
  • the spring switch 110 may be installed below the pipe 103.
  • FIG. 10 is a diagram for explaining a configuration of an operation handle 10 ⁇ / b> C that is a modification of the operation handle 10. Specifically, FIG. 10 is a cross-sectional view of the operation handle 10C when the user does not apply a force to the operation handle 10C.
  • the operation handle 10 ⁇ / b> C is different from the operation handle 10 in that a cushion member 119 such as a sponge is filled between the pipe 103 and the outer sleeve 104.
  • a cushion member 119 such as a sponge is filled between the pipe 103 and the outer sleeve 104.
  • play is not necessarily required between the pipe 103 and the outer sleeve 104.
  • FIG. 11 is a diagram for explaining a configuration of an operation handle 10D which is a modification of the operation handle 10. Specifically, FIG. 11 is a cross-sectional view of the operation handle 10D when the user is not acting on the operation handle 10D.
  • the operation handle 10 ⁇ / b> D is provided with a member 104 ⁇ / b> D that covers about 3 ⁇ 4 (about 270 degrees) in the circumferential direction of the outer periphery of the pipe 103 instead of the outer sleeve 104. That is, the member 104 ⁇ / b> D has a form in which about 1 ⁇ 4 of the outer sleeve 104 is cut along the central axis of the outer sleeve 104. According to this configuration, the mass can be reduced as compared with the outer sleeve 104.
  • the force that the spring switch 105 pulls the handle portion 152 (more precisely, the pull force that is greater than or equal to the threshold value) and the force that the spring switch 106 pushes the handle portion 152 (more precisely, the force that is greater than or equal to the threshold value)
  • the electric assist vehicle 1 may be configured so as to detect.
  • the electric assist vehicle is configured such that the pressure sensor 108 detects the force pulling the handle portion 152 and the pressure sensor 109 detects the force pushing the handle portion 152. 1 may be configured.
  • FIG. 12 is a diagram for explaining a schematic configuration of the electric assist vehicle 2 according to the present embodiment.
  • FIG. 12A is a perspective view of the electric assist vehicle 2.
  • FIG. 12B is a top view of the electric assist vehicle 2.
  • FIG. 12C is a side view of the electric assist vehicle 2.
  • the electrically assisted vehicle 2 includes an operation handle 60, a loading platform 20, an underfloor box 30, motors 41 and 42 as driving devices 40, a left rear wheel 51, and a right side wheel.
  • a rear wheel 52, a left front wheel 53, and a right front wheel 54 are provided. That is, the electrically assisted vehicle 2 is different from the electrically assisted vehicle 1 according to the first embodiment in that it includes an operation handle 60 instead of the operation handle 10.
  • the operation handle 60 includes two pipes 101, two bent pipes 102, a pipe 103, outer sleeves 104L and 104R, and a spacer 111.
  • the outer sleeves 104L and 104R and the spacer 111 are typically made of resin.
  • the outer sleeves 104 ⁇ / b> L and 104 ⁇ / b> R are configured to be movable in the forward direction and the reverse direction of the electric assist vehicle 2. More specifically, the outer sleeve 104L and the outer sleeve 104R are configured to be movable in an independent manner without being linked.
  • the outer sleeve 104L is a left hand sleeve.
  • the outer sleeve 104R is a right hand sleeve.
  • the outer sleeves 104 ⁇ / b> L and 104 ⁇ / b> R are cylindrical tubular bodies like the outer sleeve 104.
  • the spacer 111 is disposed between the outer sleeve 104L and the outer sleeve 104R.
  • the spacer 111 is a cylindrical tube. In this embodiment, the spacer 111 separates the outer sleeve into a right hand and a left hand.
  • the configuration including the two pipes 101, the two pipes 102, and the pipe 103 has been described as an example, but these may be configured as a single pipe.
  • underfloor box 30 stores battery 301 and control device 302 as described above. Although details will be described later, the control device 302 drives the motors 41 and 42 based on a user operation on the operation handle 60.
  • FIG. 13 is a diagram for explaining the movement of the outer sleeves 104L and 104R.
  • FIG. 13A is a diagram showing the state of the operation handle 60 when the user's force is not applied to the outer sleeves 104L and 104R.
  • FIG. 13B is a diagram showing the state of the operation handle 60 when a forward force F1 (that is, a pushing force) is applied to the outer sleeves 104L and 104R.
  • FIG. 13C is a diagram illustrating the state of the operation handle 60 when a reverse force F2 (that is, pulling force) is applied to the outer sleeves 104L and 104R.
  • outer sleeves 104L and 104R take a default position with respect to pipe 103. Specifically, a restoring force is applied to the outer sleeves 104L and 104R in advance so as to take a default position.
  • FIG. 14 is a view for explaining the internal structure of the operation handle 60 hidden behind the outer sleeves 104L and 104R.
  • 14A is a cross-sectional view taken along line XIV-XIV in FIG. That is, FIG. 14A is an arrow cross-sectional view corresponding to the state of FIG.
  • FIG. 14B is a cross-sectional view taken along the arrow when a forward force F1 is applied to the outer sleeves 104L and 104R. That is, FIG. 14B is a cross-sectional view taken along the arrow corresponding to the state of FIG.
  • FIG. 14C is a cross-sectional view taken along the arrow when a reverse force F2 acts on the outer sleeves 104L and 104R. That is, FIG. 14C is a cross-sectional view taken along the arrow corresponding to the state of FIG.
  • the operation handle 60 further includes spring switches 105L and 106L as detectors between the pipe 103 and the outer sleeve 104L.
  • the operation handle 60 further includes spring switches 105R and 106R as detectors between the pipe 103 and the outer sleeve 104R.
  • a configuration in which the pipe 103, the outer sleeves 104L and 104R, and the spring switches 105L, 105R, 106L, and 106R are combined is referred to as a “handle portion 162”.
  • a configuration in which a part of the pipe 103, the outer sleeve 104L, and the spring switches 105L and 106L are combined is referred to as a “grip part 162L”, and a part of the pipe 103, the outer sleeve 104R, and the spring switch 105R. , 106R together is referred to as a “handle portion 162R”.
  • the handle portion 162 includes the handle portion 162L and the handle portion 162R.
  • the spring switches 105L and 105R are used to detect a force pushing the handle 162 toward the front of the electric assist vehicle 2.
  • the spring switch 105 ⁇ / b> L is used to detect a force pushing the handle portion 162 ⁇ / b> L toward the front of the electric assist vehicle 2.
  • the spring switch 105 ⁇ / b> R is used to detect a force pushing the handle portion 162 ⁇ / b> R toward the front of the electric assist vehicle 2.
  • the spring switch 105L typically transitions from an off state to an on state when a force equal to or greater than a threshold value (force that pushes the handle portion 162L) is applied.
  • a threshold value force that pushes the handle portion 162L
  • the control device 302 determines that a force that pushes the handle portion 162L of the electric assist vehicle 1 is applied.
  • the spring switch 105R typically transitions from an off state to an on state when a force equal to or greater than a threshold value (force that pushes the handle portion 162R) is applied.
  • the control device 302 determines that a force pushing the handle portion 162R of the electric assist vehicle 1 is applied.
  • the spring switches 106L and 106R are used to detect a force pushing the handle 162 toward the rear of the electric assist vehicle 2. Specifically, the spring switch 106L is used to detect a force pushing the handle portion 162L toward the rear of the electric assist vehicle 2. The spring switch 106 ⁇ / b> R is used to detect a force pushing the handle portion 162 ⁇ / b> R toward the rear of the electric assist vehicle 2.
  • the spring switch 106L typically transitions from the off state to the on state when a force equal to or greater than a threshold (force to pull the handle portion 162L) is applied.
  • a threshold force to pull the handle portion 162L
  • the control device 302 determines that a force to pull the handle portion 162L of the electric assist vehicle 1 is applied.
  • the spring switch 106R typically transitions from an off state to an on state when a force equal to or greater than a threshold value (force to pull the handle portion 162R) is applied.
  • the control device 302 determines that a force for pulling the handle portion 162R of the electric assist vehicle 1 is applied.
  • the spring switches 105L, 105R, 106L, and 106R extend and contract in the spring arrangement direction according to the force acting in the spring arrangement direction, similar to the spring switches 105 and 106 of the first embodiment. It is configured as follows.
  • the forces F1 acting on the outer sleeves 104L and 104R are detected by the spring switches 105L and 105R, respectively. Precisely, it is detected by the spring switches 105L and 105R that forces above the threshold are acting on the outer sleeves 104L and 104R, respectively. Note that the movable portions of the outer sleeves 104L and 104R and the spring switches 105L and 105R return to the default positions shown in FIG. 14A when the force F1 stops working.
  • the outer sleeves 104L and 104R are applied to the pipe 103 as described above. It moves to the rear of the electric assist vehicle 2.
  • the movable parts of the spring switches 106L and 106R are pushed into the fixed parts of the spring switches 106L and 106R by the movement of the outer sleeves 104L and 104R, respectively, and are turned on.
  • the force F2 acting on the outer sleeves 104L and 104R is detected by the spring switches 106L and 106R. Precisely, it is detected by the spring switches 106L and 106R that forces exceeding the threshold value are acting on the outer sleeves 104L and 104R, respectively. Note that the movable portions of the outer sleeves 104L and 104R and the spring switches 106L and 106R return to the default positions shown in FIG. 14A when the force F2 is not applied.
  • the handle portion 162 extends in a direction perpendicular to the direction of the force pushing the handle portion 162 forward of the electric assist vehicle 2 and the direction of the force pulling rearward of the electric assist vehicle 2.
  • the pipe 103 has outer sleeves 104 ⁇ / b> L and 104 ⁇ / b> R attached to a part of the outer peripheral surface of the pipe 103.
  • the handle portion 162 is provided between the pipe 103 and the outer sleeve 104L.
  • the spring switch 105L is provided between the pipe 103 and the outer sleeve 104R for detecting the pushing force.
  • a spring switch 105R for detecting the pressing force.
  • the handle portion 162 is provided between the pipe 103 and the outer sleeve 104L, and is provided between the pipe 103 and the outer sleeve 104R.
  • a spring switch 106R for detecting a pulling force.
  • the handle portion 162 may be configured such that the entire outer peripheral surface of the pipe 103 is covered by the outer sleeve 104L and the outer sleeve 104R.
  • FIG. 15 is a diagram for explaining the forward / backward assist force generated based on the operation of the electric assist vehicle 2.
  • FIGS. 15A, 15B, and 15C are diagrams for explaining an operation method for generating an assist force in the forward direction.
  • FIGS. 15D, 15E, and 15F are diagrams for explaining an operation method for generating the assist force in the backward direction.
  • the control device 302 controls the motors 41 and 42 constituting the drive device 40 to generate an assist force in the forward direction. Accordingly, the user can obtain an assist force in the forward direction by applying a pressing force (forward force) to the outer sleeve 104L.
  • control device 302 is driven even when force F1 in the forward direction (that is, force that pushes handle portions 162L, 162R) is applied to handle portions 162L, 162R.
  • force F1 in the forward direction that is, force that pushes handle portions 162L, 162R
  • Control for generating assist force in the forward direction is performed on the motors 41 and 42 constituting the device 40.
  • the control device 302 controls the motors 41 and 42 constituting the driving device 40 to generate an assist force in the reverse direction.
  • the user can obtain the assist force in the reverse direction by applying a force (rearward force) applied to the outer sleeve 104L.
  • the control device 302 controls the motors 41 and 42 constituting the driving device 40 to generate an assist force in the reverse direction.
  • the user can obtain the assist force in the reverse direction by applying a force (rearward force) applied to the outer sleeve 104R.
  • control device 302 is driven even when reverse direction force F2 (that is, force that pulls handle portions 162L and 162R) is applied to handle portions 162L and 162R.
  • Control for generating assist force in the reverse direction is performed on the motors 41 and 42 constituting the device 40.
  • the control device 302 brakes the electric assist vehicle 2. Control to cause the motors 41 and 42 to generate a force (braking force) to be performed is performed.
  • the control device 302 performs control to cause the motors 41 and 42 to generate a force that keeps the electric assist vehicle 2 stopped.
  • FIG. 16 is a diagram for explaining a turning assist force generated based on an operation of the electric assist vehicle 2.
  • FIG. 16A is a diagram for explaining an operation method for generating an assist force in the left-turning direction.
  • FIG. 16B is a diagram for describing an operation method for generating an assist force in the right turn direction.
  • the user grasps the outer sleeves 104L and 104R and applies a force F2 in the reverse direction to the handle portion 162L (that is, a force that pulls the handle portion 162L).
  • a forward force F1 that is, a force pushing the handle portion 162R
  • the control device 302 turns leftward with respect to the motors 41 and 42 constituting the drive device 40.
  • Control to generate direction assist force Typically, the control device 302 is electrically driven by making the assist force in the forward direction of the motor 41 that drives the left rear wheel 51 weaker than the assist force in the forward direction of the motor 42 that drives the right rear wheel 52. Turn the assist vehicle 2 to the left.
  • the battery 301 supplies power to 105L, 105R, 106L, and 106R, the CPU 321, the memory 322, and the motors 41 and 42.
  • FIG. 18 is a block diagram for explaining a functional configuration of the electric assist vehicle 2.
  • the electrically assisted vehicle 2 includes a power supply unit 161 corresponding to the battery 301, a handle unit 162, a control unit 163 corresponding to the control device 302, and a drive unit 164 corresponding to the drive device 40. It has.
  • the handle unit 162 includes detection units 1626, 1627, 1628, and 1629.
  • the detection unit 1626 corresponds to the spring switch 105L.
  • the detection unit 1627 corresponds to the spring switch 106L.
  • the detection unit 1628 corresponds to the spring switch 105R.
  • the detection unit 1629 corresponds to the spring switch 106R.
  • the handle portion 162 includes a handle portion 162L and a handle portion 162R.
  • the handle portion 162 ⁇ / b> L includes detection units 1626 and 1627.
  • the handle portion 162 ⁇ / b> R includes detection units 1628 and 1629.
  • the control unit 163 controls the entire operation of the electric assist vehicle 2.
  • the control unit 163 is configured to assist the force according to the force pushing the handle 162 toward the front of the electric assist vehicle 2 and the force pulling the handle 162 toward the rear of the electric assist vehicle 2 (that is, forward, rear,
  • the assisting force in the left turning direction or the right turning direction) is generated in the drive unit 154.
  • FIG. 19 is a flowchart for explaining the first half of the process executed in the electric assist vehicle 2.
  • FIG. 20 is a flowchart for explaining the latter half of the process executed by the electric assist vehicle 2. More specifically, FIGS. 19 and 20 relate to the generation of the assist force for forward, reverse, left turn, and right turn described above with reference to FIGS. 15 and 16, and the stop of the generated assist force. .
  • step S102 the CPU 321 determines whether or not the spring switch 105L has detected a force for pushing the handle portion 162L of the operation handle 60. Specifically, the CPU 321 determines whether or not the spring switch 105L has been turned on. When it is determined that it has been detected (YES in step S102), the CPU 321 determines in step S104 whether or not the spring switch 106R has detected a force for pulling the handle portion 162R of the operation handle 60. Specifically, the CPU 321 determines whether or not the spring switch 106R has been turned on.
  • step S112 When a force to pull the handle portion 162L is detected (YES in step S112), the CPU 321 performs control for causing the motors 41 and 42 to generate an assist force for turning left in step S114. When the force to pull the handle portion 162L is not detected (NO in step S112), the CPU 321 advances the process to step S108 and performs control to cause the motors 41 and 42 to generate forward assist force.
  • step S120 determines in step S120 whether the force to pull the handle portion 162L is detected by the spring switch 106L. to decide. Specifically, the CPU 321 determines whether or not the spring switch 106L has been turned on. If a force that pulls the handle portion 162L is detected (YES in step S120), the CPU 321 advances the process to step S118, and performs control to cause the motors 41 and 42 to generate backward assist force. When the force to pull the handle portion 162L is not detected (YES in step S120), the CPU 321 ends the series of processes (see FIG. 20).
  • step S ⁇ b> 106 CPU 321 determines in step S ⁇ b> 122 whether a force (that is, a force for pushing handle part 162 ⁇ / b> L and a force for pulling handle part 162 ⁇ / b> R) is not detected. To do. That is, the CPU 321 determines whether all the spring switches 105L, 105R, 106L, and 106R have been turned off. If it is determined that the force is no longer detected (YES in step S122), CPU 321 performs control to stop the generation of the assist force for turning right in step S124. When it is determined that the force is detected (NO in step S122), CPU 321 continues to generate the assist force for turning right (step S106).
  • a force that is, a force for pushing handle part 162 ⁇ / b> L and a force for pulling handle part 162 ⁇ / b> R
  • step S114 the CPU 321 determines whether or not the force (that is, the force that pushes the handle portion 162R and the force that pulls the handle portion 162L) is not detected in step S130. That is, the CPU 321 determines whether all the spring switches 105L, 105R, 106L, and 106R have been turned off. When it is determined that the force is no longer detected (YES in step S130), in step S132, CPU 321 performs control for stopping the generation of the assist force for turning left. If it is determined that the force is detected (NO in step S130), CPU 321 continues to generate the assist force for turning left (step S114).
  • the force that is, the force that pushes the handle portion 162R and the force that pulls the handle portion 162L
  • step S118 the CPU 321 determines whether or not a force (that is, a force that pulls the handle portion 162R or a force that pulls the handle portion 162L) is not detected in step S134. That is, the CPU 321 determines whether all the spring switches 105L, 105R, 106L, and 106R have been turned off. When it is determined that the force is no longer detected (YES in step S134), the CPU 321 performs control to stop the generation of the backward assist force in step S136. When it is determined that the force is detected (NO in step S134), CPU 321 continues to generate the assist force for reverse travel (step S118).
  • a force that is, a force that pulls the handle portion 162R or a force that pulls the handle portion 162L
  • a forward force F1 that is, a force pushing the handle portions 162L, 162R
  • the control device 302 causes the drive device 40 to move.
  • Control for generating an assist force in the forward direction is performed on the motors 41 and 42 constituting the motor.
  • the control device 302 causes the drive device 40 to Control for generating assist force in the reverse direction is performed on the motors 41 and 42 constituting the motor.
  • control device 302 when force F1 in the forward direction (that is, a force that pushes only handle portion 162R) is applied only to handle portion 162R, control device 302 causes drive device 40 to move. Control is performed to generate assist force in the left-turning direction for the motors 41 and 42 that constitute the motor.
  • a force F2 in the backward direction (that is, a force for pulling the handle portion 162L) is applied to the handle portion 162L, and a force in the forward direction is applied to the handle portion 162R.
  • F ⁇ b> 1 that is, a force that pushes the handle portion 162 ⁇ / b> R
  • the control device 302 controls the motors 41 and 42 that constitute the drive device 40 to generate an assist force in the left-turning direction. Note that this control is the same as the control described with reference to FIG.
  • a forward force F1 that is, a force that pushes only the handle portion 162L
  • the control device 302 causes the drive device 40 to move. Control is performed to generate assist force in the right turning direction with respect to the motors 41 and 42 that constitute the motor.
  • a forward force F1 (that is, a force pushing the handle portion 162L) is applied to the handle portion 162L, and a reverse force is applied to the handle portion 162R.
  • F ⁇ b> 2 that is, a force that pulls the handle portion 162 ⁇ / b> R
  • the control device 302 controls the motors 41 and 42 that constitute the drive device 40 to generate an assist force in the right turn direction. . Note that this control is the same as the control described with reference to FIG.
  • the CPU 321 causes the user to freely rotate the rear wheels 51 and 52 instead of causing the motors 41 and 42 to generate the reverse drive force. It is good also as a state (free state) which can be performed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un véhicule doté d'une assistance à la propulsion (1) comprenant une partie poignée (152) qu'un utilisateur saisit de sorte à entraîner le déplacement du véhicule (1). Au niveau d'une partie d'entraînement destinée à entraîner les roues, une assistance à la propulsion est générée en fonction de la force à laquelle la poignée (152) est poussée vers l'avant du véhicule (1) et de la force à laquelle la poignée (152) est tirée vers l'arrière du véhicule (1). La poignée (152) comprend : un tuyau (103) s'étendant dans un sens perpendiculaire au sens de la force de poussée et au sens de la force de traction ; un manchon externe (104) fixé sur une partie d'une surface circonférentielle externe du tuyau (103) ; ainsi qu'un commutateur à ressort (105) destiné à détecter la force de poussée et un commutateur à ressort (106) destiné à détecter la force de traction, les deux commutateurs étant disposés entre le tuyau (103) et le manchon externe (104). Le véhicule doté d'une assistance à la propulsion (1) selon l'invention présente une excellente résistance et peut générer avec précision l'assistance à la propulsion souhaitée par l'utilisateur.
PCT/JP2015/054565 2014-08-22 2015-02-19 Véhicule dotée d'une assistance à la propulsion WO2016027481A1 (fr)

Applications Claiming Priority (2)

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JP2014-169162 2014-08-22
JP2014169162A JP5852197B1 (ja) 2014-08-22 2014-08-22 電動アシスト車

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WO2016027481A1 true WO2016027481A1 (fr) 2016-02-25

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CN107650956A (zh) * 2017-08-23 2018-02-02 芜湖凝鑫机械有限公司 电动运货车
CN107650982A (zh) * 2017-08-23 2018-02-02 芜湖凝鑫机械有限公司 新型运货推车
US10316692B2 (en) 2016-12-20 2019-06-11 Mitsubishi Heavy Industries, Ltd. Vibration suppression method and vibration suppression apparatus for turbocharger capable of being driven by motor

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JP6895824B2 (ja) * 2017-07-03 2021-06-30 株式会社ミツバ 操作装置、およびそれを備えた手押し移動体
JP7180415B2 (ja) * 2019-01-30 2022-11-30 工機ホールディングス株式会社 電動アシスト運搬車
JP7144905B1 (ja) 2021-11-29 2022-09-30 三菱電機株式会社 揚程延長式工事用エレベーター

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JP2002059838A (ja) * 2000-08-17 2002-02-26 Nippon Yusoki Co Ltd リフトトラック
JP2012171374A (ja) * 2011-02-17 2012-09-10 Kyb Co Ltd 電動アシスト台車

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US10316692B2 (en) 2016-12-20 2019-06-11 Mitsubishi Heavy Industries, Ltd. Vibration suppression method and vibration suppression apparatus for turbocharger capable of being driven by motor
CN107650956A (zh) * 2017-08-23 2018-02-02 芜湖凝鑫机械有限公司 电动运货车
CN107650982A (zh) * 2017-08-23 2018-02-02 芜湖凝鑫机械有限公司 新型运货推车

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