JP2006341690A - Three-wheeled moving vehicle - Google Patents

Three-wheeled moving vehicle Download PDF

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JP2006341690A
JP2006341690A JP2005168271A JP2005168271A JP2006341690A JP 2006341690 A JP2006341690 A JP 2006341690A JP 2005168271 A JP2005168271 A JP 2005168271A JP 2005168271 A JP2005168271 A JP 2005168271A JP 2006341690 A JP2006341690 A JP 2006341690A
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vehicle
moving
guide frame
rear wheels
rear wheel
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Shigeo Hirose
茂男 廣瀬
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Rikogaku Shinkokai
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Rikogaku Shinkokai
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Abstract

<P>PROBLEM TO BE SOLVED: To ensure vehicle stability even when there is a ramp or a drop in road level either in the longitudinal or lateral direction of a vehicle. <P>SOLUTION: This three-wheeled moving vehicle 1 is provided with one front wheel 3 and two rear wheels 4. A guide frame 10 is provided which circularly extends within an approximately vertical symmetry plane K-K including an axis in the longitudinal direction of the vehicle, and a mounting member 5 is attached to the guide frame 10 so as to be moved along the guide frame 10. Two rear wheels 4 are supported respectively by separate rear wheel frames 9, and the rear wheel frames 9 are respectively pivotally mounted on a vehicle body 2 so that the rear wheels 4 can be moved in a vertical direction to the vehicle body 2. The three-wheeled moving vehicle is provided with a mounting member moving device 11 for moving the mounting member 5 along the guide frame 10 so that a vehicle 1 is stabilized based on the output of a posture sensor 13 for detecting the posture of the vehicle 1, and a rear wheel moving device 12 for moving the rear wheels 4 in the vertical direction to the vehicle body 2. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は三輪移動車両に関する。   The present invention relates to a three-wheeled mobile vehicle.

車両前後方向軸線を含むほぼ鉛直平面内を円弧状に延びる案内フレームを備え、案内フレームに沿って移動できるように搭載部材を案内フレームに取り付け、車両の姿勢を検出する姿勢センサの出力に基づいて搭載部材を案内フレームに沿い移動させるようにした移動車両が公知である（特許文献１参照）。この移動車両では、路面に車両前後方向の傾斜又は段差があると、この傾斜又は段差に応じて搭載部材が移動され、それによって車両安定性が維持されるようにしている。   Based on the output of a posture sensor for detecting the posture of the vehicle, provided with a guide frame that extends in an arc shape in a substantially vertical plane including the vehicle longitudinal axis, and mounted on the guide frame so as to be movable along the guide frame A moving vehicle is known in which a mounting member is moved along a guide frame (see Patent Document 1). In this moving vehicle, when there is an inclination or a step in the vehicle front-rear direction on the road surface, the mounting member is moved according to the inclination or the step, thereby maintaining the vehicle stability.

特許２９３５２４８号公報Japanese Patent No. 2935248

しかしながら、上述の移動車両では、車輪が車両本体に固定的に支持されているので、路面に車両横方向の傾斜又は段差があると、もはや車両安定性を確保することができないという問題点がある。   However, in the above-described moving vehicle, since the wheels are fixedly supported by the vehicle main body, there is a problem in that the vehicle stability can no longer be ensured if there is an inclination or a step in the lateral direction of the vehicle on the road surface. .

前記課題を解決するために１番目の発明によれば、一つの前輪と二つの後輪とを備えた三輪移動車両において、車両前後方向軸線を含むほぼ鉛直平面内を円弧状に延びる案内フレームを備え、該案内フレームに沿って移動できるように搭載部材を案内フレームに取り付け、二つの後輪をそれぞれ別個の後輪フレームにより担持すると共に、後輪が車両本体に対し上下方向に移動できるようにこれら後輪フレームを車両本体にそれぞれ枢着し、車両の姿勢を検出する姿勢センサの出力に基づいて搭載部材を案内フレームに沿い移動させると共に後輪を車両本体に対し上下方向に移動させる手段を具備している。   In order to solve the above-described problem, according to a first aspect of the present invention, in a three-wheel mobile vehicle having one front wheel and two rear wheels, a guide frame extending in an arc shape in a substantially vertical plane including the vehicle longitudinal axis is provided. The mounting member is attached to the guide frame so as to be movable along the guide frame, the two rear wheels are supported by the separate rear wheel frames, and the rear wheels can be moved vertically with respect to the vehicle body. Means for pivotally attaching these rear wheel frames to the vehicle body and moving the mounting member along the guide frame based on the output of the posture sensor for detecting the posture of the vehicle and moving the rear wheel in the vertical direction with respect to the vehicle body. It has.

また、２番目の発明によれば１番目の発明において、前記後輪を車両本体に対し上下方向に移動させるべきときにはこれら後輪を互いに逆向きに移動させるようにしている。   According to a second aspect, in the first aspect, when the rear wheels are to be moved vertically with respect to the vehicle body, the rear wheels are moved in opposite directions.

路面に車両前後方向の傾斜又は段差があるときにも、車両横方向の傾斜又は段差があるときにも、車両安定性を確保することができる。   The vehicle stability can be ensured even when the road surface has an inclination or a step in the vehicle front-rear direction and when there is an inclination or a step in the vehicle lateral direction.

図１から図４までは、本発明による実施例の三輪移動車両１を示している。図１から図４までを参照すると、三輪移動車両１は車両本体２と、一つの前輪３と、二つの後輪４と、人又は荷物を搭載可能な搭載部材５と、姿勢制御装置６とを具備する。   1 to 4 show a three-wheel mobile vehicle 1 according to an embodiment of the present invention. Referring to FIGS. 1 to 4, a three-wheeled moving vehicle 1 includes a vehicle body 2, one front wheel 3, two rear wheels 4, a mounting member 5 on which a person or a luggage can be mounted, an attitude control device 6, It comprises.

本発明による実施例では、車両本体２は一対の本体フレーム２ａを備えている。これら本体フレーム２ａは互いに離間して、かつ車両前後方向軸線を含んでほぼ鉛直方向に拡がる対称面Ｋ−Ｋに関し対称的に配置される。   In the embodiment according to the present invention, the vehicle main body 2 includes a pair of main body frames 2a. These main body frames 2a are arranged symmetrically with respect to a symmetry plane KK that is spaced apart from each other and extends in a substantially vertical direction including the vehicle longitudinal axis.

一方、一つの前輪３は前輪フレーム７を介して車両本体２に取り付けられる。即ち、前輪フレーム７の前端には前輪３が回転可能に担持され、前輪フレーム７の後端は車両本体２に枢着され、即ちピボット軸線ＰＦ回りに回転可能に取り付けられる。前輪フレーム７の後端におけるピボット軸線ＰＦは対称面Ｋ−Ｋにほぼ垂直であり、従って前輪３は車両本体２に対し上下方向に移動可能になっている。また、前輪フレーム７は、サスペンション８を介して車両本体２に連結されている。   On the other hand, one front wheel 3 is attached to the vehicle body 2 via a front wheel frame 7. That is, the front wheel 3 is rotatably supported at the front end of the front wheel frame 7, and the rear end of the front wheel frame 7 is pivotally attached to the vehicle body 2, that is, is rotatably attached around the pivot axis PF. The pivot axis PF at the rear end of the front wheel frame 7 is substantially perpendicular to the symmetry plane KK, so that the front wheel 3 is movable in the vertical direction with respect to the vehicle body 2. The front wheel frame 7 is connected to the vehicle body 2 via a suspension 8.

これに対し、二つの後輪４はそれぞれ対応する後輪フレーム９を介して車両本体２に取り付けられる。即ち、各後輪フレーム９の後端には後輪４が回転可能に担持され、後輪フレーム９の前端は車両本体２に枢着され、即ち共通のピボット軸線ＰＲ回りに回転可能に取り付けられる。後輪フレーム９の前端におけるピボット軸線ＰＲもそれぞれ対称面Ｋ−Ｋにほぼ垂直であり、従って後輪４は互いに独立して車両本体２に対し上下方向に移動可能になっている。   On the other hand, the two rear wheels 4 are respectively attached to the vehicle body 2 via the corresponding rear wheel frames 9. That is, the rear wheel 4 is rotatably supported at the rear end of each rear wheel frame 9, and the front end of the rear wheel frame 9 is pivotally attached to the vehicle body 2, that is, rotatably attached around a common pivot axis PR. . The pivot axis PR at the front end of the rear wheel frame 9 is also substantially perpendicular to the plane of symmetry KK. Therefore, the rear wheels 4 can move up and down relative to the vehicle body 2 independently of each other.

図１及び図２（Ａ）から明らかなように、前輪３は対称面Ｋ−Ｋ内に配置され、後輪４は対称面Ｋ−Ｋに関し対称的に配置される。   As is clear from FIGS. 1 and 2A, the front wheel 3 is arranged in the symmetry plane KK, and the rear wheel 4 is arranged symmetrically with respect to the symmetry plane KK.

本体フレーム２ａの頂部にはそれぞれ、対称面Ｋ−Ｋ内を円弧状に延びる案内フレーム１０が取り付けられ、これら案内フレーム１０に上述の搭載部材５が移動可能に取り付けられる。具体的には、図３に示されるように、案内フレーム１０の側面に案内溝１０ａが形成されており、搭載部材５のアーム５ａの先端に形成された突起がこれら案内溝１０ａ内を移動する。車両安定性の観点からは、案内フレーム１０の曲率中心が三輪移動車両１の接地面よりも下方に位置することが好ましい。   A guide frame 10 extending in an arc shape within the symmetry plane KK is attached to the top of the main body frame 2a, and the above-described mounting member 5 is movably attached to these guide frames 10. Specifically, as shown in FIG. 3, a guide groove 10a is formed on the side surface of the guide frame 10, and a protrusion formed at the tip of the arm 5a of the mounting member 5 moves in the guide groove 10a. . From the viewpoint of vehicle stability, the center of curvature of the guide frame 10 is preferably located below the ground contact surface of the three-wheel mobile vehicle 1.

姿勢制御装置６は搭載部材５を案内フレーム１０に沿って車両前後方向に移動させるための、搭載部材移動装置１１と、後輪４又は後輪フレーム９を上下方向に移動させるための後輪移動装置１２とを具備する。   The attitude control device 6 moves the mounting member 5 in the vehicle longitudinal direction along the guide frame 10 and the rear wheel movement for moving the rear wheel 4 or the rear wheel frame 9 in the vertical direction. Device 12.

本発明による実施例では、搭載部材移動装置１１は搭載部材５に取り付けられており、図３に示されるように電気モータ１１ａと、電気モータ１１ａにベルトを介して連結された駆動プーリ１１ｂとを具備する。案内フレーム１０の円弧状外周に沿ってタイミングベルト１１ｃが設けられており、駆動プーリ１１ｂはこのタイミングベルト１１ｃに係合されている。従って、電気モータ１１ａが駆動されて駆動プーリ１１ｂが回転されると、搭載部材５が移動されることになる。なお、タイミングベルト１１ｃは案内フレーム１０同士の間の間隙を覆うように設けられ、従って防塵の役割を果たす。このため、別個の防塵部材を設ける必要がないので、車両を軽量化することができる。   In the embodiment according to the present invention, the mounting member moving device 11 is attached to the mounting member 5, and as shown in FIG. 3, an electric motor 11a and a drive pulley 11b connected to the electric motor 11a via a belt are provided. It has. A timing belt 11c is provided along the arcuate outer periphery of the guide frame 10, and the driving pulley 11b is engaged with the timing belt 11c. Therefore, when the electric motor 11a is driven and the drive pulley 11b is rotated, the mounting member 5 is moved. The timing belt 11c is provided so as to cover the gap between the guide frames 10, and thus plays a role of dust prevention. For this reason, since it is not necessary to provide a separate dustproof member, a vehicle can be reduced in weight.

一方、本発明による実施例の後輪移動装置１２は図４に示されるように、例えば電気モータ１２ａと、電気モータ１２ａの揺動運動を後輪フレーム９又は後輪４の上下運動に変換する変換装置１２ｂとを備えている。変換装置１２ｂは共通の軸線ＰＸ回りに回転可能に本体フレーム２ａに支持された一対のリンク１２ｃを具備する。各リンク１２ｃの一端は接続部材１２ｄを介し、電気モータ１２ａの駆動軸に固定されたプレート１２ｅに接続される。ここで、接続部材１２ｄはリンク１２ｃ及びプレート１２ｅにそれぞれ回転可能に接続されている。なお、電気モータ１２ａの回転軸線はほぼ対称面Ｋ−Ｋ（図１、図２（Ａ））上に位置しており、プレート１２ｅは対称面Ｋ−Ｋの両側にほぼ水平方向に延びている。一方、各リンク１２ｃの他端は比較的硬いサスペンション１２ｆを介して後輪フレーム９にそれぞれ接続される。ここで、サスペンション１２ｆはリンク１２ｃ及び後輪フレーム９にそれぞれ回転可能に接続されている。   On the other hand, as shown in FIG. 4, the rear wheel moving device 12 of the embodiment according to the present invention converts, for example, the electric motor 12a and the swinging motion of the electric motor 12a into the vertical motion of the rear wheel frame 9 or the rear wheel 4. And a conversion device 12b. The conversion device 12b includes a pair of links 12c supported by the main body frame 2a so as to be rotatable around a common axis PX. One end of each link 12c is connected to a plate 12e fixed to the drive shaft of the electric motor 12a via a connecting member 12d. Here, the connecting member 12d is rotatably connected to the link 12c and the plate 12e. The rotation axis of the electric motor 12a is substantially located on the plane of symmetry KK (FIGS. 1 and 2A), and the plate 12e extends substantially horizontally on both sides of the plane of symmetry KK. . On the other hand, the other end of each link 12c is connected to the rear wheel frame 9 via a relatively hard suspension 12f. Here, the suspension 12f is rotatably connected to the link 12c and the rear wheel frame 9, respectively.

電気モータ１２ａが図４のＡ方向に回転駆動されると、右後輪４Ｒが軸線ＰＸ回りに上方に移動され、左後輪４Ｌが軸線ＰＲ回りに下方に移動される。これに対し、電気モータ１２ａが図４のＢ方向に回転駆動されると、右後輪４Ｒが軸線ＰＲ回りに下方に移動され、左後輪４Ｌが軸線ＰＲ回りに上方に移動される。   When the electric motor 12a is rotationally driven in the direction A in FIG. 4, the right rear wheel 4R is moved upward about the axis PX, and the left rear wheel 4L is moved downward about the axis PR. On the other hand, when the electric motor 12a is rotationally driven in the direction B in FIG. 4, the right rear wheel 4R is moved downward around the axis PR, and the left rear wheel 4L is moved upward around the axis PR.

このように本発明による実施例では、後輪４を車両本体２に対し上下方向に移動させるべきときにはこれら後輪４が互いに逆向きに、しかもほぼ同じ量又は角度だけ移動される。このようにすると後輪４の移動量が少なくてすむ。なお、図４以外の図面では姿勢制御装置６は簡素化して示されている。   Thus, in the embodiment according to the present invention, when the rear wheels 4 are to be moved in the vertical direction with respect to the vehicle body 2, the rear wheels 4 are moved in the opposite directions and by substantially the same amount or angle. In this way, the amount of movement of the rear wheel 4 can be reduced. In the drawings other than FIG. 4, the posture control device 6 is shown in a simplified manner.

一対の後輪４をそれぞれ別個に、車両本体２に対し上下方向に移動させるようにしてもよいし、右後輪４Ｒの上下方向移動量と左後輪４Ｌの上下方向移動量とを互いに異なるようにしてもよい。   The pair of rear wheels 4 may be moved separately in the vertical direction with respect to the vehicle body 2, and the vertical movement amount of the right rear wheel 4R and the vertical movement amount of the left rear wheel 4L are different from each other. You may do it.

図２（Ｂ）に示されるように、車両本体２には三輪移動車両１又は搭載部材５の姿勢を検出する姿勢センサ１３が取り付けられる。この姿勢センサ１３からの出力に基づき、三輪移動車両１の安定性が確保されるように、即ち例えば搭載部材５の座面５ｂが水平に維持されるように、姿勢制御装置６が駆動される。具体的には、搭載部材移動装置１１により搭載部材５が車両前後方向に移動され、後輪移動装置１２により後輪４が上下方向に移動される。なお、姿勢センサ１３は三輪移動車両１のどの位置に取り付けてもよく、例えば搭載部材５に取り付けることもできる。   As shown in FIG. 2B, a posture sensor 13 for detecting the posture of the three-wheel mobile vehicle 1 or the mounting member 5 is attached to the vehicle body 2. Based on the output from the attitude sensor 13, the attitude control device 6 is driven so that the stability of the three-wheeled moving vehicle 1 is ensured, that is, for example, the seating surface 5b of the mounting member 5 is maintained horizontal. . Specifically, the mounting member 5 is moved in the vehicle front-rear direction by the mounting member moving device 11, and the rear wheel 4 is moved in the vertical direction by the rear wheel moving device 12. Note that the attitude sensor 13 may be attached to any position of the three-wheeled moving vehicle 1, for example, may be attached to the mounting member 5.

後輪４内には例えば電気モータ４ａがそれぞれ内蔵されており、三輪移動車両１を駆動すべきときにはこれら電気モータ４ａが別個に駆動される。この場合、電気モータ４ａ（図２（Ｂ））に回転速度差をつけることによって、車両進行方向を変更することができる。   For example, electric motors 4a are built in the rear wheels 4, and when the three-wheel mobile vehicle 1 is to be driven, these electric motors 4a are driven separately. In this case, the vehicle traveling direction can be changed by giving a difference in rotational speed to the electric motor 4a (FIG. 2B).

電気モータ４ａ及び姿勢制御装置６は車両本体２に搭載された電源（図示しない）から電力の供給を受け、車両本体２に搭載された制御装置（図示しない）によって制御される。   The electric motor 4a and the attitude control device 6 are supplied with electric power from a power source (not shown) mounted on the vehicle body 2, and are controlled by a control device (not shown) mounted on the vehicle body 2.

図５から図１０は上述した本発明による実施例の三輪移動車両１を一人乗り電動車椅子１Ａから構成した場合を示している。この場合、図５に示されるように、電動車椅子１Ａの横幅を例えば搭乗者Ｐの肩幅程度にまで小さくすることができ、電動車椅子１Ａの走行に必要な横幅を人が歩くときに必要な横幅と同程度にすることができる。その結果、従来の電動車椅子よりも高い運動性を発揮でき、搭乗者例えば老人の活動範囲を広げることができる。   5 to 10 show a case where the above-described three-wheeled mobile vehicle 1 according to the embodiment of the present invention is constituted by a single-seat electric wheelchair 1A. In this case, as shown in FIG. 5, the width of the electric wheelchair 1A can be reduced to, for example, about the shoulder width of the passenger P, and the width required when a person walks the width required for running the electric wheelchair 1A. Can be as high as As a result, higher mobility than conventional electric wheelchairs can be exhibited, and the activity range of passengers such as elderly people can be expanded.

また、図５に示されるように、前輪３が一輪であるので、搭乗者Ｐの脚が前輪３と干渉するのを阻止できる。   Further, as shown in FIG. 5, since the front wheel 3 is a single wheel, it is possible to prevent the leg of the passenger P from interfering with the front wheel 3.

このように電動車椅子１Ａの横幅を低減できるのは、次に説明するように、電動車椅子１Ａの安定性が確保されているからである。   The reason why the width of the electric wheelchair 1A can be reduced in this way is that the stability of the electric wheelchair 1A is ensured, as will be described next.

図６及び図７は路面Ｒに車両前後方向の傾斜がある場合の電動車椅子１Ａを示している。これらの場合には、搭載部材５である座席５Ａが搭載部材移動装置１１により案内フレーム１０に沿いつつ車両前方又は後方に移動され、電動車椅子１Ａの安定性が維持される。   6 and 7 show the electric wheelchair 1A when the road surface R is inclined in the vehicle longitudinal direction. In these cases, the seat 5A as the mounting member 5 is moved forward or backward along the guide frame 10 by the mounting member moving device 11, and the stability of the electric wheelchair 1A is maintained.

図８は路面に車両横方向の段差がある場合の電動車椅子１Ａを示している。この場合、前輪３及び右後輪４Ｒは平坦面Ｆに接地しつつ左後輪４Ｌが段差Ｂに乗り上げている。しかしながら、この場合、左後輪４Ｌが後輪移動装置１２により車両本体２に対し上方に移動され、右後輪４Ｒが後輪移動装置１２により車両本体２に対し下方に移動され、このため電動車椅子１Ａないし座席５Ａが傾くことはない。このようにして、車両横方向の傾斜又は段差があるときにも、車両重心が車両中心に維持され、車両安定性が確保される。   FIG. 8 shows the electric wheelchair 1A in the case where there is a step in the vehicle lateral direction on the road surface. In this case, the left rear wheel 4L rides on the step B while the front wheel 3 and the right rear wheel 4R are in contact with the flat surface F. However, in this case, the left rear wheel 4L is moved upward with respect to the vehicle main body 2 by the rear wheel moving device 12, and the right rear wheel 4R is moved downward with respect to the vehicle main body 2 by the rear wheel moving device 12. The wheelchair 1A or the seat 5A does not tilt. In this way, the vehicle center of gravity is maintained at the center of the vehicle even when there is an inclination or a step in the lateral direction of the vehicle, and vehicle stability is ensured.

図９及び図１０は本発明による別の実施例を示している。図９に示される例では、前輪３を担持する前輪フレーム７が車両横方向に回転可能に車両本体２に取り付けられると共に、前輪フレーム７にハンドル１４が固定されている点で、図１から図８までの実施例と構成を異にしている。この場合、搭乗者Ｐがハンドル１４を操作することによって電動車椅子１Ａの進行方向が変更される。従って、後輪４の電気モータ４ａを別個に制御する必要がない。   9 and 10 show another embodiment according to the present invention. In the example shown in FIG. 9, the front wheel frame 7 carrying the front wheel 3 is attached to the vehicle body 2 so as to be rotatable in the lateral direction of the vehicle, and the handle 14 is fixed to the front wheel frame 7. The configuration is different from that of the eighth embodiment. In this case, when the passenger P operates the handle 14, the traveling direction of the electric wheelchair 1A is changed. Therefore, it is not necessary to separately control the electric motor 4a of the rear wheel 4.

一方、図１０に示される例では、前輪３がいわゆるオムニホイール（登録商標）３Ａから構成されている点で、図１から図８までの実施例と構成を異にしている。このオムニホイール（登録商標）３Ａは車輪の外周に回転可能に取り付けられた複数の樽状ホイール１５を備えており、車両前後方向には車輪全体が回転することにより、車両横方向には樽状ホイール１５が回転することにより、それぞれ移動可能になっている。この場合、後輪４はそれぞれ別個の電気モータ４ａにより駆動されているので、二つの後輪４の回転速度に差を設ければ、電動車椅子１Ａの進行方向を変更することができる。   On the other hand, in the example shown in FIG. 10, the configuration is different from that of the embodiment shown in FIGS. 1 to 8 in that the front wheel 3 is constituted by a so-called omni wheel (registered trademark) 3A. The omni wheel (registered trademark) 3A includes a plurality of barrel-like wheels 15 that are rotatably attached to the outer periphery of the wheel, and the entire wheel rotates in the vehicle front-rear direction, thereby forming a barrel shape in the vehicle lateral direction. Each wheel 15 can be moved by rotating. In this case, since the rear wheels 4 are respectively driven by separate electric motors 4a, the traveling direction of the electric wheelchair 1A can be changed by providing a difference in the rotational speeds of the two rear wheels 4.

本発明による実施例の三輪移動車両１を有人又は無人作業車両から構成することもできる。この場合、車両１は例えば山林における狭い山道や木々の間や、工事現場、災害現場における狭隘空間を容易に移動することができ、作業の自動化が促進される。   The three-wheeled moving vehicle 1 of the embodiment according to the present invention can be constituted by a manned or unmanned work vehicle. In this case, the vehicle 1 can easily move, for example, between narrow mountain roads and trees in mountain forests, narrow spaces in construction sites and disaster sites, and automation of work is promoted.

本発明による実施例の三輪移動車両の頂面図である。It is a top view of the three-wheeled mobile vehicle of the Example by this invention. 本発明による実施例の三輪移動車両の正面図及び側面図である。It is the front view and side view of the three-wheeled mobile vehicle of an Example by this invention. 搭載部材移動装置等の拡大図である。It is an enlarged view of a mounting member moving device or the like. 後輪移動装置等の拡大図である。It is an enlarged view of a rear wheel moving device or the like. 本発明が適用された電動車椅子の作用を説明するための図である。It is a figure for demonstrating the effect | action of the electric wheelchair to which this invention was applied. 本発明が適用された電動車椅子の作用を説明するための図である。It is a figure for demonstrating the effect | action of the electric wheelchair to which this invention was applied. 本発明が適用された電動車椅子の作用を説明するための図である。It is a figure for demonstrating the effect | action of the electric wheelchair to which this invention was applied. 本発明が適用された電動車椅子の作用を説明するための図である。It is a figure for demonstrating the effect | action of the electric wheelchair to which this invention was applied. 本発明による別の実施例を示す図である。It is a figure which shows another Example by this invention. 本発明による別の実施例を示す図である。It is a figure which shows another Example by this invention.

符号の説明Explanation of symbols

１ 三輪移動車両
２ 車両本体
３ 前輪
４ 後輪
５ 搭載部材
６ 姿勢制御装置
７ 前輪フレーム
９ 後輪フレーム
１０ 案内フレーム
１１ 搭載部材移動装置
１２ 後輪移動装置
１３ 姿勢センサ DESCRIPTION OF SYMBOLS 1 Three-wheel moving vehicle 2 Vehicle main body 3 Front wheel 4 Rear wheel 5 Mounting member 6 Attitude control device 7 Front wheel frame 9 Rear wheel frame 10 Guide frame 11 Mounting member moving device 12 Rear wheel moving device 13 Attitude sensor

Claims (2)

一つの前輪と二つの後輪とを備えた三輪移動車両において、車両前後方向軸線を含むほぼ鉛直平面内を円弧状に延びる案内フレームを備え、該案内フレームに沿って移動できるように搭載部材を案内フレームに取り付け、二つの後輪をそれぞれ別個の後輪フレームにより担持すると共に、後輪が車両本体に対し上下方向に移動できるようにこれら後輪フレームを車両本体にそれぞれ枢着し、車両の姿勢を検出する姿勢センサの出力に基づいて車両が安定するように搭載部材を案内フレームに沿い移動させると共に後輪を車両本体に対し上下方向に移動させる手段を具備した三輪移動車両。   In a three-wheeled mobile vehicle having one front wheel and two rear wheels, the vehicle has a guide frame extending in an arc shape in a substantially vertical plane including the vehicle longitudinal axis, and the mounting member is movable so as to move along the guide frame. Attached to the guide frame, the two rear wheels are respectively supported by separate rear wheel frames, and these rear wheel frames are pivotally attached to the vehicle body so that the rear wheels can move vertically with respect to the vehicle body. A three-wheeled moving vehicle comprising means for moving a mounting member along a guide frame and moving a rear wheel in a vertical direction with respect to a vehicle body so that the vehicle is stabilized based on an output of an attitude sensor that detects an attitude. 前記後輪を車両本体に対し上下方向に移動させるべきときにはこれら後輪を互いに逆向きに移動させるようにした請求項１に記載の三輪移動車両。   The three-wheel moving vehicle according to claim 1, wherein when the rear wheels are to be moved in the vertical direction with respect to the vehicle body, the rear wheels are moved in directions opposite to each other.
JP2005168271A 2005-06-08 2005-06-08 Three-wheeled moving vehicle Pending JP2006341690A (en)

Priority Applications (1)

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JP2005168271A JP2006341690A (en) 2005-06-08 2005-06-08 Three-wheeled moving vehicle

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011029795A1 (en) * 2009-09-08 2011-03-17 Ino8 Pty Ltd Tilt control for tilting vehicles
JP2011511727A (en) * 2007-10-11 2011-04-14 ブム クォン，ヨン Two-wheel moving body and motorcycle having the same
CN104739590A (en) * 2015-04-23 2015-07-01 邯郸学院 Computer-controlled moped for disabled
CN104800012A (en) * 2015-04-23 2015-07-29 邯郸学院 Electrically powered wheelchair adjusting device based on computer instructions
WO2018017051A1 (en) * 2016-07-19 2018-01-25 Ford Global Technologies, Llc Transportation device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011511727A (en) * 2007-10-11 2011-04-14 ブム クォン，ヨン Two-wheel moving body and motorcycle having the same
WO2011029795A1 (en) * 2009-09-08 2011-03-17 Ino8 Pty Ltd Tilt control for tilting vehicles
CN102596697A (en) * 2009-09-08 2012-07-18 Ino8私人有限公司 Tilt control for tilting vehicles
EP2628672A3 (en) * 2009-09-08 2015-11-11 Ino8 Pty Ltd Tilt control for tilting vehicles
CN104739590A (en) * 2015-04-23 2015-07-01 邯郸学院 Computer-controlled moped for disabled
CN104800012A (en) * 2015-04-23 2015-07-29 邯郸学院 Electrically powered wheelchair adjusting device based on computer instructions
WO2018017051A1 (en) * 2016-07-19 2018-01-25 Ford Global Technologies, Llc Transportation device

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