JP5577487B2 - Weight transfer balance car - Google Patents

Description

The present invention relates to a weight shift balance car that can be operated by a driver's weight shift.

As an automobile to stand on, an inverted pendulum type electric vehicle that is driven by weight movement such as a Segway scooter (deca) or a winglet (Toyota) is described in Patent No. 3965651, Patent No. 398733, US Pat. No. 5,971,091, etc. Yes.

Further, as a trochoid-propelled automobile, a trochoid automobile-related patent (patents 1384561, 1384569, 3443778) by the present inventor is known.
Furthermore, a two-axis steering trochoid self-propelled vehicle (Japanese Patent Laid-Open No. 9-193857) by the present inventor is known as a standing vehicle having a trochoid wheel mechanism.

Patent No. 3965651 Patent No. 3981733 US Pat. No. 5,971,091

Conventional Segway, winglet, etc. are parallel two-wheeled passenger cars, so they are uneasy about stability performance as a vehicle that stands and rides weight, and it is difficult to get on and off, and it is unsuitable for elderly people and disabled people In addition, there is a problem that electronic control malfunctions or stops, and there is a risk of falling when standing still, accelerating / decelerating, or turning, and it feels dangerous. In addition, since it cannot stand by itself when it is turned off, it must be leaned against a wall or the like when not in use, which is inconvenient for parking and storage.
Furthermore, there was a problem that it was not possible to move horizontally or skew like the leveling of the kite.

An object of the present invention is to solve such a conventional problem, and an object of the present invention is to provide a body weight balance vehicle having excellent stationary stability and dynamic stability.

Instead of a stand-up vehicle, the weight shift balance vehicle of the present invention mechanically detects a driver's weight shift with a weight shift detector such as a helmet, A trochoid propulsion rear wheel control mechanism with a horizontal swivel is adopted, and the gyro is operated by using a weight shift detection body such as a helmet when the driver performs a weight shift operation forward when accelerating and backward when decelerating. It has a structure that enables stable running with a balance between the effect and weight transfer without falling down.

According to the first aspect of the present invention, a horizontal swivel that is provided with the weight movement detector 1 such as a helmet at the upper end of the omnidirectional acceleration / deceleration control stick 2 and movably holds the lower part of the omnidirectional acceleration / deceleration control stick 2. The attached trochoid propulsion rear wheel control mechanism 3 is provided on the gyro stable vehicle body 10 so as to turn freely, and can be driven by the prime mover 4 and the energy supply body 5 held by the gyro stable vehicle body 10. By fixing the front anti-turning wheel 6 that prevents this turning to the front, and arranging two body-holding sticks 8 with brakes 7 at the front of the gyro-stable car body at a shoulder width interval, Smooth acceleration, smooth deceleration, smooth turning, and making the gyro-stable car body difficult to tilt, leaving the body on the two body-holding walking sticks 8 with a shoulder width interval, and focusing on the fixed front wheel Can redirecting and turning like Kurifuto, easily weight shift operation in elderly and handicapped, and configured to eliminate the anxiety to improve stability.

In the second aspect of the present invention, the trochoid propulsion rear wheel control mechanism with the horizontal swivel and the front wheel steering by the two body holding sticks can be used to smoothly and freely change the speed and the lateral speed in response to acceleration or deceleration. By allowing the vehicle to move forward and diagonally, and even when the vehicle has a short wheelbase, the gyro effect at the time of rotation of the horizontal swivel is demonstrated, and the weight shifting operation is performed while maintaining the horizontal stable posture of the gyro stable vehicle body. In addition, it has a structure that can prevent the vehicle from tipping over at the time of lateral movement, skew and rapid left-right turn.
That is, in the second aspect of the present invention, the weight movement detector 1 is provided at the upper end of the omnidirectional acceleration / deceleration control stick 2 and the lower part of the omnidirectional acceleration / deceleration control stick 2 is movably held so as to be movable. The propulsion rear wheel control mechanism 3 is provided on the gyro stable vehicle body 10 so as to be turnable, and is provided so as to be driven by the driving body 4 and the energy supply body 5 held by the gyro stable vehicle body 10. In addition, a front anti-turning wheel 6 for preventing the turning of the anti-turning wheel 6 is provided, and the front anti-turning wheel 6 is steerably held, and two body holding sticks 8 with a brake 7 that can steer it are provided at a shoulder width interval. By arranging the body-holding stick 8 as a front-wheel steering handle in parallel, an all-wheel-steering automobile configuration was obtained.
Further, in the third to sixth inventions of the present application, the weight shift detector 1 is formed as a helmet, a shoulder container, a waist adhesion belt, a buttocks saddle, a seat seat, etc., and this is linked with an omnidirectional acceleration / deceleration control stick. They were connected as follows.

The operational effects of the first problem solving means are as follows. The driver moves his / her weight forward at the start, accelerates with a weight shift detection body such as a helmet, waist belt and buttocks saddle, and when he decelerates, moves his / her weight backward, and weights such as the helmet, waist adhesion belt and buttocks saddle By being able to decelerate with the movement detection body, the driver can drive without time lag by moving his / her body weight forward / backward and left / right while supporting the body with the two body holding sticks 8, balance the posture, and not fall down, I was able to run smoothly.

In addition, the left and right cornering using the omnidirectional acceleration / deceleration control stick and the trochoid propulsion rear wheel control mechanism with a horizontal swivel can skillfully move the weight from side to side on the gyro stable body 10 that maintains the horizontal posture. Because it can turn while tilting the body at the desired acceleration like a motorcycle, coupled with the stability of the gyro stable body posture and the increased ground pressure of the multi-wheel drive, it prevents the turning over and the centrifugal force It can be controlled extremely safely.

According to the second aspect of the present invention, the weight movement detector 1 is provided at the upper end of the omnidirectional acceleration / deceleration control stick 2 and the lower part of the omnidirectional acceleration / deceleration control stick 2 is movably held so as to be movable. The control mechanism 3 is provided on the gyro stable vehicle body 10 so as to be able to turn, and is driven by the prime mover 4 and the energy supply body 5 held by the gyro stable vehicle body 10 provided with the trochoid propulsion rear wheel control mechanism 3 with the horizontal swivel. The front part of the gyro-stable vehicle body 10 is provided with a turn-preventing front wheel 6 that prevents the turning of the gyro-stable vehicle body 10. The body-holding cane 8 with the brake 7 is arranged in parallel with a shoulder width interval, and the body-holding cane 8 is used as a front wheel steering handle.

According to the third aspect of the present invention, the weight movement detection body is in the shape of a helmet and is linked to the omnidirectional acceleration / deceleration control stick, so it can be driven by the movement of the driver's head, even for the elderly and disabled It became easy to drive.

According to the fourth aspect of the present invention, the weight movement detector 1 has a backpack shape and is linked to the omnidirectional acceleration / deceleration control stick 2, so that it can be driven by the driver's back movement. .

According to the fifth aspect of the present invention, the weight movement detector 1 is formed in the shape of a hip contact belt or waist contact belt, which is interlocked with the omnidirectional acceleration / deceleration control stick 2. You can drive by movement.

According to the sixth aspect of the present invention, the weight movement detector 1 has a buttocks saddle or a seated seat shape, and this has an interlocking structure with the omnidirectional acceleration / deceleration control stick 2. Move your waist back and forth, left and right, you can drive with that movement,

This will be described in detail with reference to FIG. The weight transfer balance automobile of this embodiment is designed to stand up and be like an automobile.
Reference numeral 1 denotes a helmet-shaped weight shift detection body, which is worn by the driver on the head. 2 is an omnidirectional acceleration / deceleration control rod that is connected to this, telescopically expands and contracts and can be moved back and forth, and left and right, and 3 is a continuously variable trochoid propulsion rear wheel control mechanism having four drive wheels. This is a continuously variable transmission wheel control mechanism composed of a trochoid propulsion mechanism with a horizontal swivel as detailed in Japanese Patent No. 1384561 and JP-A-9-193857 by the present inventor, and is held at the rear part of the gyro stable vehicle body 10. Reference numeral 31 denotes a control stick fulcrum spherical bearing, 32 a control stick lower end ball joint, and 33 radial bundles which are bundled at the center and connected to the control stick lower end 32. Reference numeral 34 denotes a wheel swing block, 35 denotes a horizontal swivel pulley, and 36 denotes four rear drive wheels that are driven to revolve. 4 is a motor driving body for driving these belts, 5 is an energy supply body of a battery, 6 is a front wheel that cannot be steered, 7 is a brake that can brake the front wheel, and 8 is a pair of bodies that are implanted with a shoulder width interval. In the holding stick, the right hand handle and the left hand handle are respectively inserted into a vertical pipe by a handle stem and held in a wedge shape, and are adjusted up and down and rotated similarly to the front wheel fork handle of a bicycle. Reference numeral 80 is a start switch, 9 is a helmet-shaped body weight movement detecting body that the driver wears on the head, and 10 is a gyro stable vehicle body.

In the weight shift balanced vehicle having the above structure, a driver stands and puts a weight shift detector 1 in the shape of a helmet 9 on his / her head and attaches both hands to two body holding sticks 8 with a shoulder width interval to prepare for traveling. The start switch 80 is pressed to start the power from the prime mover 4 to turn the rear wheel control mechanism 3 with a horizontal turning board, and when the four driving rear wheels 36 are swung around, they turn on the spot. When the omnidirectional acceleration / deceleration control stick 2 is in a vertical state, it just turns and does not run yet.
The driver moves the weight forward and the trochoid propulsion rear wheel control mechanism 3 with a horizontal swivel that continuously changes the speed by tilting the omnidirectional acceleration / deceleration control stick 2 with the helmet-shaped weight movement detector 1 on the head. And the four driving rear wheels 36 periodically generate side forces to smoothly accelerate forward. The driver's body leans forward and balances the weight, and because of the gyro effect of the horizontal swivel, the front wheels do not float or fall over even if acceleration is large, making it smooth You can start.

Since there are four drive wheels, power distribution is performed efficiently, and the vehicle starts to slide with little fluctuation in ground pressure. When the cruise speed is reached, the driver returns the upper body.
When the driver wants to decelerate, if the driver moves his / her head and moves his / her head backward to move the omnidirectional acceleration / deceleration control stick 2 backward, the brake is applied by reverse propulsion, and the helmet-shaped weight shift detector 1 is further moved backward. The omnidirectional acceleration / deceleration control stick 2 connected to this can be returned vertically to stop. Further, even when the omnidirectional acceleration / deceleration control stick 2 is moved backward and moved backward, the gyro stable vehicle body 10 is gradually moved backward while maintaining stability on the horizontal swivel board, and there is no possibility of overturning.

In this embodiment, a known trochoid propulsion wheel mechanism (Japanese Patent Laid-Open No. 5-147562) is employed as a rear wheel control mechanism with a horizontal swivel board provided under the omnidirectional acceleration / deceleration control stick 2.
That is, four blocks 34 are planted on the horizontal swivel 35 from the lower surface so as to be swingable. Drive wheels 36 are freely mounted on the blocks 34, and the radial links 33 are front wheels of a four-wheeled vehicle. Like the steering tie rod, it is provided between the block 34 and the control stick lower end 32. When the control stick 2 is held vertically, the four wheels only revolve, so no driving force is generated. However, when the control stick is tilted and the center of rotation is eccentric, the radial link moves periodically. The drive wheel 36 is swung to cause a cornering force to be periodically generated, and the control stick is started to be tilted.

In this embodiment, the vehicle is designed to stand and ride, and a helmet 9 that is a body weight detector 1 is attached to the driver's head. When the driver tilts the upper body forward, the body weight detector 1 The omnidirectional acceleration / deceleration control stick 2 connected forward is tilted forward. When the upper body is tilted to the right, the omnidirectional acceleration / deceleration control stick 2 is also tilted to the right. When the upper body is tilted to the left, the omnidirectional acceleration / deceleration control stick 2 is also tilted to the left. It is a mechanism.

  In the weight shift balance automobile of the present invention having the above structure, the trochoid propulsion rear wheel control mechanism 3 with a horizontal swivel is provided under the omnidirectional acceleration / deceleration control stick 2 provided with the helmet-shaped weight shift detector 1. A gyro-stable vehicle body 10 to be held is provided with a motor driving body 4, a battery energy supply body 5, and a front wheel 6 that cannot be steered, and a brake 7 that brakes the front wheel 6 fixed to the vehicle body 10 has two body holding sticks. 8 so that the driver can move the upper body forward, tilt the omnidirectional acceleration / deceleration control stick forward, and accelerate the car smoothly and quickly. Stable driving, the driver raises the body, puts the omnidirectional acceleration / deceleration control stick 2 back, activates the brake 7, brakes all the wheels, and stops safely and smoothly Can.

Further, when the driver twists his / her body and moves the weight movement detection body 1 in the lateral direction, the omnidirectional acceleration / deceleration control stick 2 integrated therewith moves in the lateral direction, and the gyro stable vehicle body 10 having a fixed front wheel. You can turn right and left or turn on the spot like a forklift.
The gyro stable vehicle body 10 is stable in posture even when the wheel base is short due to the gyro effect of the turning of the horizontal turning board 35, is easy to get on and off, and not only the static stability but also the dynamic stability is extremely good.

A second embodiment of the present invention weight balance vehicle is shown in FIG. This is an example of a standing type that can move the heel sideways, and has a plurality of weight movement detectors 1.

Reference numeral 1 is a body weight detector having a backpack-like container shape like a school bag and having a waist adhesion belt, and 2 is an omnidirectional acceleration / deceleration control stick provided so as to be freely fitted underneath. Reference numeral 92 denotes a butt saddle provided in the middle of the omnidirectional acceleration / deceleration control stick 2, which is also a body weight detector 1. Reference numeral 3 denotes a trochoid propulsion rear wheel control mechanism with a horizontal swivel, which is the same as that of the above embodiment. The same. (See Japanese Patent Laid-Open No. 9-193857)
4 is a prime mover of a gasoline engine, 5 is an energy supplier of a gasoline tank, 6 is a small-diameter front wheel that can be steered, 7 is a brake, and 8 is two vertical bars that are provided with a shoulder width interval and function as a steering handle A body holding stick having a shape is integrated with the small-diameter front wheel 6. When the body holding stick 8 is turned, the small-diameter front wheel 6 can be turned and steered. The entire area around the handle is a simple view like the handle shape of a stilt. Reference numeral 80 denotes an engine start button, and the others are the same as in the above embodiment.

In the body weight balance vehicle having the above-described structure, a driver in a standing posture is a body weight detector 1 with a carrying container shape, a body weight detector 1 with a Velcro waist contact belt 9 shape, and a body weight detector 1 with a buttocks saddle 92 shape. , Put a hand on a pair of body-holding cane 8 provided at a shoulder width interval and used as a steering handle, turn it 90 degrees laterally, and then turn the waist and then the weight of the container shape Both the movement detection body 1, the weight movement detection body 1 in the form of a waist contact belt, and the weight movement detection body 1 in the buttocks saddle shape are tilted sideways to incline the omnidirectional acceleration / deceleration control stick 2, and the trochoid with horizontal swivel Since the rear wheel control mechanism 3 moves smoothly, the kite can move sideways.

A third embodiment of the present invention is shown in FIG.
This represents a wheelchair-shaped weight transfer balance vehicle for disabled people who cannot stand.
Reference numeral 1 denotes a waist movement belt-shaped body weight detection body, which also has an assistant hand push handle 93. 2 is an omnidirectional accelerating / decelerating control rod, 3 is a trochoid propulsion rear wheel control mechanism with a horizontal swivel, 4 is a motor prime mover for driving this, 5 is an energy supplier such as a battery, 6 is a front wheel with anti-turning with a hand rim, 7 Is a brake, 8 is a pair of body-holding sticks arranged side by side at the shoulder width interval, 9 is a waist contact belt, 93 is a push handle for an assistant, and 80 is a start button. The wheelchair can be operated by pushing the push handle 93 for the assistant, and the rider can be helped.

The weight transfer balance car of this structure is designed so that elderly people who can not stand and disabled people can move while driving while sitting on the seat surface. The weight movement detection body 1 that detects the shift and the omnidirectional acceleration / deceleration control stick 2 connected thereto are moved to smoothly drive and run the wheelchair-shaped weight movement balance automobile.
If there is a helper, you can drive by pushing the pusher handle 93 for the helper, and push the omnidirectional acceleration / deceleration control stick 2 with the handle 93 to the elderly or handicapped person, and move in the pushed direction to detect weight shift Can teach how to move body 1.
The driver's weight transfer skill ensures smooth driving.

The weight transfer balance automobile of the present invention is effective not only for walking but also as a means of moving in a wide facility or premises such as a hospital, a park, an art museum, a zoo, an aquarium, an exhibition hall.

The perspective view of 1st Example of this invention Side view of the second embodiment of the present invention Side view of the third embodiment of the present invention

Explanation of symbols

1 is a body weight detection body 2 is an omnidirectional acceleration / deceleration control stick 3 is a trochoid propulsion rear wheel control mechanism 4 with a horizontal swivel board 4 is a prime mover 5 is an energy supply body 6 is a turning prevention front wheel 7 is a brake 8 is a body width holding stick

Claims (4)

A body movement detector 1 is provided at the upper end of the omnidirectional acceleration / deceleration control stick 2 and a trochoid propulsion rear wheel control mechanism 3 with a horizontal swivel that movably holds the lower part of the omnidirectional acceleration / deceleration control stick 2 is a gyro stable vehicle body. The trochoid propulsion rear wheel control mechanism 3 with a horizontal swivel can be driven by a prime mover 4 and an energy supply body 5 held by a gyro stable vehicle body 10, and a gyro stable vehicle body is provided. A front anti-turning wheel 6 that prevents the turning of the vehicle 10 is steerably held at the front of the vehicle 10, and a pair of body holding sticks 8 with a brake 7 are provided at the front of the gyro car body 10 with a shoulder width interval therebetween. Weight-balanced vehicle characterized in that a body-holding stick with attached body 8 is a front wheel steering handle. 2. The body weight balance vehicle according to claim 1, wherein the body weight movement detection body is formed in a helmet shape, and is connected to an omnidirectional acceleration / deceleration control stick 2 to form an interlocking structure. 2. The body weight balance vehicle according to claim 1, wherein the body weight movement detection body is formed in a container shape, which is connected to an omnidirectional acceleration / deceleration control stick and has an interlocking structure. 2. The body weight balance vehicle according to claim 1, wherein the body weight movement detection body 1 is formed in a hip contact belt or waist contact belt shape, and is connected to an omnidirectional acceleration / deceleration control stick 2 to form an interlocking structure.

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