JP3654979B2 - Electric vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an electric vehicle such as an electric wheelchair, and more particularly to an electric vehicle capable of driving a motor in accordance with an operation force of a person such as a caregiver.
[0002]
[Prior art]
In the case of an ordinary electric wheelchair, a joystick lever for operation is attached, and the electric chair travels in the direction in which the occupant tilts the joystick lever. When a caregiver is attached to such an electric wheelchair, it is effective to turn off the clutch of the electric wheelchair and push it to avoid battery consumption. However, the electric wheelchair on which the occupant rides weighs in the hundreds of kilograms, and can only push a flat road, and often relies on electric propulsion even with a caregiver.
[0003]
Therefore, an operation unit that detects an operation force generated when the vehicle moves forward or backward by human power and generates an electric signal corresponding to the operation force is attached to the handle of the vehicle, and the motor is based on the electric signal of the operation unit. There has been proposed an electric vehicle provided with a control unit for controlling the output of the motor. When the caregiver applies a force to the handle with the operation part attached in the direction in which the vehicle is to be propelled, the motor is driven according to the operating force, and the car is promoted jointly by the caregiver and the motor, and the battery power is turned on. In addition to saving, the caregiver's sense of operation is not disturbed.
[0004]
As the operation portion attached to the handle, as disclosed in JP-flat 6-304204, fitted with a fitting that the load cell is attached to the tip of a pair of hand wheel, a handlebar of a U-shape in the fitting There are proposed a first scheme in which a rubber is attached to the hand handle as a grip and a strain gauge is attached to the end of the rubber.
[0005]
[Problems to be solved by the invention]
However, since the operation unit of the first plan uses a connection fitting or a bar handle with a built-in load cell, there is a problem that it cannot be attached unless a part of the hand handle is cut off. Becomes longer). Since the operation part of the 2nd plan detects deformation of a rubber grip with a strain gauge, there is a problem that the output changes depending on how the grip is gripped and the like and lacks in reliability for detecting human operation force.
[0006]
The present invention has been made in view of such problems of the prior art, and an object is to try to provide an electric vehicle having a highly reliable operating unit. Another object of the present invention is to achieve the object without greatly modifying the handwheel.
[0007]
[Means for Solving the Problems]
In order to achieve the above-described object, the invention according to claim 1 of the present invention includes a motor for applying a driving force to the vehicle, a handle provided in the forward and backward direction of the vehicle, and a handle provided on the handle. An operation unit that detects an operation force generated when the vehicle is moved forward or backward by human power and generates an electric signal corresponding to the operation force, and controls an output of the motor based on the electric signal of the operation unit In an electric vehicle having a control unit to
The operation unit is
A movable grip that is externally fitted to the handle and is movable relative to the handle in the forward / backward direction of the vehicle, and a relative movement amount of the movable grip and the handle is detected, and the electric power corresponding to the movement amount is detected. A position detection unit that outputs a signal, an elastic member that is housed inside the handle having a cylindrical shape with an open end, and generates a repulsive force corresponding to an operation force applied to the movable grip; and the movable grip A rod member that is mounted and provided with a locking portion that is positioned on both ends of the elastic member and applies a pressing force to the elastic member when the movable grip moves ;
The elastic member is housed inside the cylindrical handle, and the movable grip is externally fitted to the handle so as to be movable .
As a result, when a caregiver or the like applies an operation force for propelling the vehicle to the movable grip, the movable grip responds to the operation force while deforming the elastic member via the locking portion of the rod member attached to the movable grip. The position detection unit outputs an electrical signal corresponding to the amount of movement, and the motor increases or decreases the driving force in accordance with the amount of movement of the movable grip. Therefore, the motor can be driven according to the magnitude of human operation force, and when the operation force disappears when the person releases the movable grip, the movable grip moves to the opposite side by the reaction force of the deformed elastic member Thus, the driving force of the motor can be stopped.
In addition, since the elastic member that generates a repulsive force according to the operating force is located in the cylindrical handle, it can be made compact.
[0008]
The invention according to claim 2, in those of claim 1, wherein, in the prior SL operating unit, while being inserted and fixed in the handle, and supporting the both ends of the elastic member that is housed inside the handle repulsive A rod member that receives force is further provided, and the rod member is configured to penetrate the tube member.
Accordingly, the cylindrical member that houses the elastic member is inserted and fixed in the handle, and can be attached to the handle as it is.
[0009]
The invention according to claim 3, to those of claim 2, wherein a mounting portion which is fitted to the handle to guide the movement of the movable grip, the mounting portion at one end is engaged to the handle periphery and the movable within grip A fixed cylinder provided between the circumference and
The fixed cylinder is formed with a holding portion for fixing the cylinder member inside the handle.
Accordingly, even when the outer periphery of the handle is not uniform, the movable grip is reliably moved while being guided by the fixed cylinder, and the cylindrical member is securely fixed by the holding part of the fixed cylinder locked to the attachment part.
[0010]
According to a fourth aspect of the present invention, in the third aspect of the present invention, the position detecting portion is provided in the mounting portion.
As a result, when the position detection unit is provided in the attachment part, there is less to be accommodated in the handle, the attachment to the handle becomes easier, and an electric signal from the position detection unit can be taken out without processing the handle.
[0011]
The invention according to claim 5 is the one according to claim 4 , wherein the position detection unit is configured by a rack provided in the movable grip, and a pinion provided in the attachment portion and engaged with the rack. The moving amount of the movable grip is detected via the pinion.
Thereby, it can prevent that an operation part extends in the front-back direction of a handle | steering-wheel, and attachment property improves.
[0012]
Invention according to claim 6, Oite to those of claim 1 or 2, wherein the vehicle which has wheels that are applied independently to the driving force of the motor on both sides of the vehicle body, the wheel of the sides The handle is provided on both sides of the vehicle body so as to correspond to the vehicle, and the operation unit is provided on each handle so as to generate an individual electric signal for each of the wheels on both sides. is there.
As a result, the wheels to which the driving force of the motor is applied independently are provided on both sides of the vehicle body, handles are provided on both sides of the vehicle body to correspond to the wheels on both sides, and the operation unit is individually provided on the wheels on both sides. If each handle is provided so as to generate the electrical signal, a motor driving force corresponding to the operating force of each handle is generated, and the force for moving the human vehicle forward and backward is supplemented. Therefore, even when the vehicle is to be bent, the vehicle can be propelled according to the operating force without increasing the burden on the person.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. 1 is a perspective view of an electric vehicle according to the present invention, FIG. 2 is a cross-sectional view of an operation unit, FIG. 3 is a cross-sectional view taken along line XX of FIG. 2, and FIG. FIG.
[0014]
First, the overall configuration of the electric vehicle will be described with reference to FIG. The electric vehicle A has a pair of left and right hand push handles 1, 1, and left and right operation parts 4, 5 including movable grips 8, 8 are attached to the handles 1, 1. In addition, a wheel driving motor, a motor control unit, a battery, and the like are built in the left and right wheels 81, 81. The wheels 81 and 81 are large wheels because they incorporate the motor and the like, and both sides are covered with covers 82 and 82. The wheels 3 and 3 are provided with hand rims 3a in preparation for a failure of the electric mechanism.
[0015]
Next, the detailed structure of the operation units 4 and 5 will be described with reference to FIGS. In FIG. 2, reference numeral 1 denotes a cylindrical hand push handle of an electric wheelchair formed of a pipe frame, and a portion connected to the vehicle body is omitted. The grip member normally placed on the handle 1 is removed, and the handle 1 is simply a pipe. The pair of operation portions 4 and 5 attached to the pair of left and right handles 1 have the same shape. The operation parts 4 and 5 are mainly composed of the attachment part 6, the fixed cylinder 7, the movable grip 8, the elastic member 9 in the spring storage part 11, and the position detection part 10.
[0016]
As shown in FIG. 3, the attachment portion 6 has a structure in which the split blocks 12 and 13 are fastened with bolts 14. Ends on the vehicle body side of the blocks 12 and 13 in FIG. 2 are clamp portions 15 for holding the bent portion of the handle 1, and the attachment portion 6 is attached to the handle 1 at the portion of the clamp portion 15. In addition, the attachment portion 6 is provided with a cylindrical hole 16 that is opened to the distal end side of the handle 1 and a ring-shaped projection portion 17 that is positioned in the back of the cylindrical hole 16. A movable grip 8 (described later) is slidably inserted into the cylindrical hole 16, and a fixed cylinder 7 (described later) is sandwiched and fixed by the ring-shaped protrusion 17. A step 7 a of the fixed cylinder 7 is formed on the ring-shaped protrusion 17. Locked to the step.
[0017]
The fixed cylinder 7 extends from the mounting portion 6 toward the tip of the handle 1 so as to cover the outer periphery of the handle 1. The outer diameter of the pipe 1 has a considerable error, and the inner diameter of the fixed cylinder 7 is larger than the outer diameter of the handle 1 so that the fixed cylinder 7 cannot be inserted into the handle 1. The distal end of the fixed cylinder 7 is a holding portion 18 (thick portion), and the step portion of the holding portion 18 is engaged with the distal end of the handle 1.
[0018]
The movable grip 8 is guided by a bush 7 b that slides on the outer periphery of the fixed cylinder 7, and is positioned so as to cover the tip of the handle 1, and its root portion is inserted into the cylindrical hole 16 of the mounting portion 6. A rod member 20 is screwed to the end portion 19 of the movable grip 8 so as to coincide with the central axis. A small-diameter portion 20c is formed between the tip-side large-diameter portion 20a and the base-side large-diameter portion 20b of the rod member 20, and a compression spring 9 serving as an elastic member is provided as a spring receiving member 21 in the small-diameter portion 20c. 22 is trapped. The appearance of the movable grip 8 in the illustrated example is shown as a simple pipe, but in actual use, a known rubber slip stopper is fitted to function as a grip.
[0019]
A cylindrical member 23 is fixed to the holding portion 18 at the tip of the fixed cylinder 7 with a retaining ring so as to coincide with the central axis. The cylindrical member 23 is formed with stepped portions 23a and 23b with which the spring receiving members 21 and 22 abut and a cylindrical space 23c into which the compression spring 9 is fitted.
[0020]
Eventually, the rod member 20 becomes a member connected to the movable grip 8, the cylinder member 23 becomes a member connected to the fixed cylinder 7, and the spring housing portion 11 is formed by the rod member 20, the cylinder member 23, and the spring receiving members 21, 22. Yes. The spring accommodating portion 11 is located in the handle 1.
[0021]
A rack 24 is fixed to the lower side of the part where the movable grip 8 enters the cylindrical hole 16 of the mounting portion 6, and the movement of the movable grip 8 is converted into the rotation of the pinion 25. Further, a long hole 8a is machined on the side surface of the movable grip 8, and the push-in limit position and the pull-out limit position of the movable grip 8 are set by engaging the stopper 26 protruding from the mounting member 6 with the long hole 8a. Determined.
[0022]
As shown in FIG. 3, the rotary encoder 10 as a position detection unit is screwed to the block 13 of the mounting member, and the pinion 25 described above is fitted to the input shaft of the rotary encoder 10. As shown in FIG. 4, the rotary encoder 10 is provided with pilot lamps 10 a and 10 b for displaying the pushing state or the pulling state of the movable grip 8.
[0023]
Next, the operation of the operation units 4 and 5 will be described with reference to FIGS. In FIG. 5A, when the movable grip 8 is pushed to advance the electric vehicle, the front end (end on the handle side) of the compression spring 9 causes the spring receiving member 21 that contacts the step portion 23 a of the cylindrical member 23 to move. The rear end (end on the vehicle body side) of the compression spring 9 is pushed by the stepped portion of the large-diameter portion 20b of the rod member 20 via the spring receiving member 22. 5B, when the movable grip 8 is pulled to move the electric vehicle backward, the rear end of the compression spring 9 is a spring receiving member 21 at the stepped portion of the large diameter portion 20a of the rod member 20. The front end of the compression spring 9 is pushed in by the step portion of the large diameter portion 23 b of the cylindrical member 23 via the spring receiving member 22.
[0024]
As described above, the compression spring 9 is pushed in accordance with the operation force of the person acting on the movable grip 8, and the movable grip 8 moves in accordance with the operation force of the person. This amount of movement is input to the rotary encoder 10 through the rack 24 and the pinion 25 so as to be distinguished from pushing or pulling. Then, the rotary encoder 10 outputs an electrical signal corresponding to the pressing amount of the compression spring 9.
[0025]
In FIG. 6, the relationship between the electric signal (displacement) output from the rotary encoder 10 and the operating force of the movable grip (equal to the spring biasing force) is illustrated. That is, the operating force of the movable grip 8 is converted into the displacement signals 60 and 61 through the dead zone 59 based on the pressure applied by the compression spring 9. Note that the width of the dead zone 59 can be arbitrarily set by making the pressure applied to the compression spring 9 different. Here, + displacement in the displacement signal 60 represents a push operation, and − displacement in the displacement signal 61 represents a pull operation. Note that the dead zone 59 may be omitted by setting the pressure of the compression spring 9 to zero.
[0026]
As shown in FIG. 2, by storing the bulky spring accommodating portion 11 in the handle 1, the movable grip 8 can be put on the tip of the handle 1, and the size of the attachment portion 6 is also compact. If the rotary encoder 10 serving as a position detection unit is provided in the attachment unit 6, the wiring can be wired to the conversion unit along the handle, and the structure can be simplified. However, it is also possible to structure in which the potentiometer ® menu over other linear motion detecting a relative movement of the rod member 20 and tubular member 23 to form a spring storage portion 11 in the handle 1. In this case, the wiring of potentiometer ® menu chromatography data is wired through a hole bored in the handle 1 to the conversion unit out to the outside.
[0027]
Further, the structure and operation of the entire electric vehicle based on the above-described operation unit will be described with reference to FIGS. In FIG. 7, the electric signal f1 is generated from the left and right operation units 4 and 5, and the motor 40 is actually driven by the drive unit 77 via the control unit 44, and the electric vehicle moves. Reference numeral 43 denotes a battery for the motor 40.
[0028]
Next, the calculation process of the control unit 44 will be described with reference to FIG. 8 showing the relationship between the operating force and the acceleration / deceleration of the vehicle. FIG. 8A is a graph showing an output relationship between the electric signal f1 from the rotary encoder corresponding to the operating force and the torque drive signal f2 output to the motor, and FIG. 8B is an electric signal f1 and vehicle acceleration. It is a graph which shows the relationship. At point C, the operating force, torque drive signal, and acceleration are all zero. Point B is a dead zone with a small operating force, and both the operating force and the torque drive signal are zero. However, the forward acceleration is increased by the amount of human operation. Point D is opposite to point B and the reverse acceleration increases. The dead zone is provided to prevent the motor from following a small operating force and causing the vehicle propulsion to become unstable. The point A has a large operating force, the torque drive signal f2 increases proportionally from the point a, and the forward acceleration is the sum of the forward acceleration due to the human operating force and the forward acceleration of the motor. That is, the torque of the motor changes depending on the magnitude of the man's operating force, and is promoted jointly by the person and the motor. Point E is reverse to point A and acts on the reverse acceleration. FIG. 7 is a graph assuming a horizontal flat road, but when the vehicle goes up and down the slope, the acceleration of the motor only increases by the amount of gravitational acceleration.
[0029]
In the above-described embodiment, the compression spring is used as the elastic member that generates a repulsive force against the pressing force of the movable grip. However, a cylindrical rubber and a soft material may be used instead. As for the rotary encoder is used were cylindrical, it may be a direct-acting, may be used potentiometer ® meter equipped Hall element, an electronic scale.
Moreover, in the said Example, although the spring receiving member 21 was provided in the cylindrical member 23 and this spring receiving member 21 was set as the structure pressed by the large diameter parts 20a and 20b of the rod member 20, this spring receiving member 21 is unnecessary. You can also In this case, as shown in FIG. 9, a notch 21b is provided in the end surface 21a of the cylindrical member 23 that supports the elastic member 9, and the rod member 20 is fitted into the notch 21b instead of the large diameter portions 20a and 20b. What is necessary is just to provide the protrusion 20c which presses the elastic member 9. FIG. With this configuration, the number of parts can be reduced.
[0030]
【The invention's effect】
As described above, the invention according to the first aspect of the present invention uses the elastic member that generates a repulsive force according to the operating force, so that the operating force can be accurately detected. The balance of jointly propelling the vehicle will not be lost. Further, since the elastic member that generates a repulsive force according to the operating force is located in the cylindrical handle, it can be made compact.
[0031]
According to a second aspect of the invention, in addition to the effect of claim 1, without disconnecting the handle, insert the handle need only be secured to the handle at the mounting portion, it can be easily mounted in the operating unit, remodeling Can also be done easily.
[0032]
According to the third aspect of the invention, in addition to the effect of the second aspect , even when the outer periphery of the handle is not uniform, the movable grip is reliably moved while being guided by the fixed cylinder, and the cylindrical member is locked to the mounting portion. It is securely fixed by the holding part of the fixed cylinder.
[0033]
In addition to the effect of the third aspect , the invention according to the fourth aspect can extract a signal from the position detection unit without processing the handle by providing a bulky position detection unit at the mounting portion with respect to the handle. .
[0034]
According to a fifth aspect of the present invention, in addition to the effect of the fourth aspect , the position detecting unit includes a rack provided on the movable grip and a pinion provided on the mounting member and engaged with the pinion. Since the amount of movement of the movable grip is detected via the control unit, it is possible to prevent the operation unit from extending in the forward / backward direction of the handle, and the mounting property is improved.
[0035]
In addition to the effect of the first or second aspect , the invention described in claim 6 provides wheels on both sides of the vehicle body to which the driving force of the motor is independently applied, and corresponds to the wheels on both sides of the vehicle body. If a handle is provided on both sides of the vehicle, and the operation unit is provided on each handle so that an electric signal is generated on each of the wheels on both sides, a motor driving force corresponding to the operation force of each handle is generated. The power to move forward and backward is complemented. Therefore, when the vehicle is moved forward and backward, the vehicle can be propelled according to the operation force without increasing the burden on the person.
[Brief description of the drawings]
FIG. 1 is a perspective view of an electric vehicle according to the present invention.
FIG. 2 is a cross-sectional view of an operation unit.
3 is a cross-sectional view taken along line XX in FIG.
4 is a view taken in the direction of arrow Y in FIG. 3;
FIGS. 5A and 5B are operation diagrams of the operation unit, in which FIG. 5A shows a case where an operating force in a pushing direction is applied, and FIG. 5B shows a case where an operating force in a pulling direction is applied;
FIG. 6 is a graph showing the relationship between the spring biasing force and displacement of the operation unit.
FIG. 7 is a drive block diagram of the electric vehicle.
FIG. 8 is a graph of signal conversion in a conversion unit.
FIG. 9 is a cross-sectional view of the fixed cylinder tip side showing another embodiment of the fixed cylinder and the rod member.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Handle 4 Car body 3 Wheel 4, 5 Operation part 6 Attachment part 7 Fixed cylinder 8 Movable grip 9 Compression spring (elastic member)
10 rotary encoder (position detector)
20 Rod member 23 Cylinder member 40 Motor 44 Control unit 76 Conversion unit

Claims (6)

A motor for applying driving force to the vehicle, a handle provided in the forward / reverse direction of the vehicle, and an operating force provided on the handle for detecting when the vehicle is moved forward or backward by human power In an electric vehicle having an operation unit that generates an electric signal according to the operation force and a control unit that controls the output of the motor based on the electric signal of the operation unit.
The operation unit is
A movable grip that is externally fitted to the handle and is movable relative to the handle in the forward / backward direction of the vehicle, and a relative movement amount of the movable grip and the handle is detected, and the electric power corresponding to the movement amount is detected. A position detection unit that outputs a signal, an elastic member that is housed inside the handle having a cylindrical shape with an open end, and generates a repulsive force corresponding to an operation force applied to the movable grip; and the movable grip A rod member that is mounted and provided with a locking portion that is positioned on both ends of the elastic member and applies a pressing force to the elastic member when the movable grip moves ;
An electric vehicle characterized in that the elastic member is housed in the cylindrical handle, and the movable grip is movably fitted to the handle . The front SL operating unit, while being inserted and fixed in the handle, further allowed comprising a tubular member for receiving a repulsive force by supporting the both ends of the elastic member that is housed inside the handle,
The electric vehicle according to claim 1, wherein the rod member is configured to penetrate the cylindrical member. An attaching portion that is externally fitted to the handle and guides the movement of the movable grip; and a fixed cylinder that has one end locked to the attaching portion and is provided between the handle outer periphery and the movable grip inner periphery;
The electric vehicle according to claim 2 , wherein a holding portion that fixes the cylindrical member inside the handle is formed in the fixed cylinder. The electric vehicle according to claim 3 , wherein the position detection unit is provided in the attachment unit. Wherein the position detection unit,
A rack provided on the movable grip, and a pinion provided on the mounting portion and engaged with the rack;
The electric vehicle according to claim 4, wherein an amount of movement of the movable grip is detected via the pinion. The vehicle has wheels to which the driving force of the motor is independently applied on both sides of the vehicle body, and the handle is provided on both sides of the vehicle body so as to correspond to the wheels on both sides, 3. The electric vehicle according to claim 1, wherein the electric vehicle is provided at each handle so as to generate an individual electric signal for each of the wheels on both sides.

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